diff --git a/Sming/Libraries/MPU6050/MPU6050.cpp b/Sming/Libraries/MPU6050/MPU6050.cpp new file mode 100644 index 0000000000..cc639c8eb6 --- /dev/null +++ b/Sming/Libraries/MPU6050/MPU6050.cpp @@ -0,0 +1,323 @@ +// 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 Updates should +// (hopefully) always be available at https://github.com/jrowberg/i2cdevlib +// +// Changelog: +// ... - ongoing debug release + +// NOTE: THIS IS ONLY A PARTIAL 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 "MPU6050.h" +#include +#include + +#define I2C_NUM I2C_NUM_0 +using detail::concat; + +namespace +{ +//Slave 4’s characteristics differ greatly from those of Slaves 0-3. +//Hence our API support only up to slave 3 +constexpr uint8_t MAX_SLAVE_ID{3}; +#define ASSERT_SLAVE_ID_VALID(slaveId) assert((slaveId <= MAX_SLAVE_ID)) +} // namespace + +size_t MPU6050::Motion3::printTo(Print& p) const +{ + size_t n{0}; + n += p.print(x); + n += p.print('\t'); + n += p.print(y); + n += p.print('\t'); + n += p.print(z); + return n; +} + +size_t MPU6050::Motion6::printTo(Print& p) const +{ + size_t n{0}; + n += p.print(_F("accel/gyro:\t")); + n += p.print(accel); + n += p.print('\t'); + n += p.print(gyro); + return n; +} + +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! +} + +uint8_t MPU6050::getAccelXSelfTestFactoryTrim() +{ + const uint8_t x = readByte(MPU6050_RA_SELF_TEST_X); + const uint8_t a = readByte(MPU6050_RA_SELF_TEST_A); + return (x >> 3) | ((a >> 4) & 0x03); +} + +uint8_t MPU6050::getAccelYSelfTestFactoryTrim() +{ + const uint8_t y = readByte(MPU6050_RA_SELF_TEST_Y); + const uint8_t a = readByte(MPU6050_RA_SELF_TEST_A); + return (y >> 3) | ((a >> 2) & 0x03); +} + +uint8_t MPU6050::getAccelZSelfTestFactoryTrim() +{ + uint8_t buffer[2] = {0}; + I2Cdev::readBytes(devAddr, MPU6050_RA_SELF_TEST_Z, 2, buffer); + return (buffer[0] >> 3) | (buffer[1] & 0x03); +} + +uint8_t MPU6050::getGyroXSelfTestFactoryTrim() +{ + const uint8_t x = readByte(MPU6050_RA_SELF_TEST_X); + return (x & 0x1F); +} + +uint8_t MPU6050::getGyroYSelfTestFactoryTrim() +{ + const uint8_t y = readByte(MPU6050_RA_SELF_TEST_Y); + return (y & 0x1F); +} + +uint8_t MPU6050::getGyroZSelfTestFactoryTrim() +{ + const uint8_t z = readByte(MPU6050_RA_SELF_TEST_Z); + return (z & 0x1F); +} + +uint8_t MPU6050::getSlaveAddress(SlaveId slaveId) +{ + ASSERT_SLAVE_ID_VALID(slaveId); + return readByte(MPU6050_RA_I2C_SLV0_ADDR + slaveId * 3); +} + +void MPU6050::setSlaveAddress(SlaveId slaveId, uint8_t address) +{ + ASSERT_SLAVE_ID_VALID(slaveId); + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + slaveId * 3, address); +} + +uint8_t MPU6050::getSlaveRegister(SlaveId slaveId) +{ + ASSERT_SLAVE_ID_VALID(slaveId); + return readByte(MPU6050_RA_I2C_SLV0_REG + slaveId * 3); +} + +void MPU6050::setSlaveRegister(SlaveId slaveId, uint8_t reg) +{ + ASSERT_SLAVE_ID_VALID(slaveId); + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + slaveId * 3, reg); +} + +bool MPU6050::getSlaveEnabled(SlaveId slaveId) +{ + ASSERT_SLAVE_ID_VALID(slaveId); + return readBit(MPU6050_RA_I2C_SLV0_CTRL + slaveId * 3, MPU6050_I2C_SLV_EN_BIT); +} + +void MPU6050::setSlaveEnabled(SlaveId slaveId, bool enabled) +{ + ASSERT_SLAVE_ID_VALID(slaveId); + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + slaveId * 3, MPU6050_I2C_SLV_EN_BIT, enabled); +} + +bool MPU6050::getSlaveWordByteSwap(SlaveId slaveId) +{ + ASSERT_SLAVE_ID_VALID(slaveId); + return readBit(MPU6050_RA_I2C_SLV0_CTRL + slaveId * 3, MPU6050_I2C_SLV_BYTE_SW_BIT); +} + +void MPU6050::setSlaveWordByteSwap(SlaveId slaveId, bool enabled) +{ + ASSERT_SLAVE_ID_VALID(slaveId); + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + slaveId * 3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled); +} + +bool MPU6050::getSlaveWriteMode(SlaveId slaveId) +{ + ASSERT_SLAVE_ID_VALID(slaveId); + + return readBit(MPU6050_RA_I2C_SLV0_CTRL + slaveId * 3, MPU6050_I2C_SLV_REG_DIS_BIT); +} + +void MPU6050::setSlaveWriteMode(SlaveId slaveId, bool mode) +{ + ASSERT_SLAVE_ID_VALID(slaveId); + + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + slaveId * 3, MPU6050_I2C_SLV_REG_DIS_BIT, mode); +} + +bool MPU6050::getSlaveWordGroupOffset(SlaveId slaveId) +{ + ASSERT_SLAVE_ID_VALID(slaveId); + + return readBit(MPU6050_RA_I2C_SLV0_CTRL + slaveId * 3, MPU6050_I2C_SLV_GRP_BIT); +} + +void MPU6050::setSlaveWordGroupOffset(SlaveId slaveId, bool enabled) +{ + ASSERT_SLAVE_ID_VALID(slaveId); + + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + slaveId * 3, MPU6050_I2C_SLV_GRP_BIT, enabled); +} + +uint8_t MPU6050::getSlaveDataLength(SlaveId slaveId) +{ + ASSERT_SLAVE_ID_VALID(slaveId); + + return readBits(MPU6050_RA_I2C_SLV0_CTRL + slaveId * 3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH); +} + +void MPU6050::setSlaveDataLength(SlaveId slaveId, uint8_t length) +{ + ASSERT_SLAVE_ID_VALID(slaveId); + + I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + slaveId * 3, MPU6050_I2C_SLV_LEN_BIT, + MPU6050_I2C_SLV_LEN_LENGTH, length); +} + +MPU6050::Motion6 MPU6050::getMotion6() +{ + Motion6 motion6; + uint8_t buffer[14] = {0}; + I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer); + motion6.accel.x = concat(buffer[0], buffer[1]); + motion6.accel.y = concat(buffer[2], buffer[3]); + motion6.accel.z = concat(buffer[4], buffer[5]); + motion6.gyro.x = concat(buffer[8], buffer[9]); + motion6.gyro.y = concat(buffer[10], buffer[11]); + motion6.gyro.z = concat(buffer[12], buffer[13]); + return motion6; +} + +MPU6050::Motion3 MPU6050::getAcceleration() +{ + Motion3 accel; + uint8_t buffer[6] = {0}; + I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer); + accel.x = concat(buffer[0], buffer[1]); + accel.y = concat(buffer[2], buffer[3]); + accel.z = concat(buffer[4], buffer[5]); + return accel; +} + +MPU6050::Motion3 MPU6050::getAngularRate() +{ + Motion3 angularRate; + uint8_t buffer[6] = {0}; + I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer); + angularRate.x = concat(buffer[0], buffer[1]); + angularRate.y = concat(buffer[2], buffer[3]); + angularRate.z = concat(buffer[4], buffer[5]); + return angularRate; +} + +void MPU6050::setSlaveOutputByte(SlaveId slaveId, uint8_t data) +{ + ASSERT_SLAVE_ID_VALID(slaveId); + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + slaveId, data); +} + +bool MPU6050::getSlaveDelayEnabled(SlaveId slaveId) +{ + // MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc. + ASSERT_SLAVE_ID_VALID(slaveId); + return readBit(MPU6050_RA_I2C_MST_DELAY_CTRL, slaveId); +} + +// XA_OFFS_* registers +int16_t MPU6050::getXAccelOffset() +{ + uint8_t buffer[2] = {0}; + I2Cdev::readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} + +// YA_OFFS_* register + +int16_t MPU6050::getYAccelOffset() +{ + uint8_t buffer[2] = {0}; + I2Cdev::readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} + +// ZA_OFFS_* register + +int16_t MPU6050::getZAccelOffset() +{ + uint8_t buffer[2] = {0}; + I2Cdev::readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} + +// 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); +} + +uint8_t MPU6050::readBit(uint8_t regAddr, uint8_t bitNum) +{ + uint8_t bit; + const auto count = I2Cdev::readBit(devAddr, regAddr, bitNum, &bit); + (void)count; + return bit; +} + +uint8_t MPU6050::readBits(uint8_t regAddr, uint8_t bitStart, uint8_t length) +{ + uint8_t bits; + const auto count = I2Cdev::readBits(devAddr, regAddr, bitStart, length, &bits); + (void)count; + return bits; +} + +uint8_t MPU6050::readByte(uint8_t regAddr) +{ + uint8_t byte; + const auto count = I2Cdev::readByte(devAddr, regAddr, &byte); + (void)count; + return byte; +} diff --git a/Sming/Libraries/MPU6050/MPU6050.h b/Sming/Libraries/MPU6050/MPU6050.h new file mode 100644 index 0000000000..ef277d1e35 --- /dev/null +++ b/Sming/Libraries/MPU6050/MPU6050.h @@ -0,0 +1,3446 @@ +// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 +// (RM-MPU-6000A-00) +// Based On https://github.com/jrowberg/i2cdevlib + +// NOTE: THIS IS ONLY A PARTIAL 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. + =============================================== + */ + +#pragma once + +#include + +#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_SELF_TEST_X 0x0D //[7:5] XA_TEST[4-2], [4:0] XG_TEST[4-0] +#define MPU6050_RA_SELF_TEST_Y 0x0E //[7:5] YA_TEST[4-2], [4:0] YG_TEST[4-0] +#define MPU6050_RA_SELF_TEST_Z 0x0F //[7:5] ZA_TEST[4-2], [4:0] ZG_TEST[4-0] +#define MPU6050_RA_SELF_TEST_A 0x10 //[5:4] XA_TEST[1-0], [3:2] YA_TEST[1-0], [1:0] ZA_TEST[1-0] +#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_SELF_TEST_XA_1_BIT 0x07 +#define MPU6050_SELF_TEST_XA_1_LENGTH 0x03 +#define MPU6050_SELF_TEST_XA_2_BIT 0x05 +#define MPU6050_SELF_TEST_XA_2_LENGTH 0x02 +#define MPU6050_SELF_TEST_YA_1_BIT 0x07 +#define MPU6050_SELF_TEST_YA_1_LENGTH 0x03 +#define MPU6050_SELF_TEST_YA_2_BIT 0x03 +#define MPU6050_SELF_TEST_YA_2_LENGTH 0x02 +#define MPU6050_SELF_TEST_ZA_1_BIT 0x07 +#define MPU6050_SELF_TEST_ZA_1_LENGTH 0x03 +#define MPU6050_SELF_TEST_ZA_2_BIT 0x01 +#define MPU6050_SELF_TEST_ZA_2_LENGTH 0x02 + +#define MPU6050_SELF_TEST_XG_1_BIT 0x04 +#define MPU6050_SELF_TEST_XG_1_LENGTH 0x05 +#define MPU6050_SELF_TEST_YG_1_BIT 0x04 +#define MPU6050_SELF_TEST_YG_1_LENGTH 0x05 +#define MPU6050_SELF_TEST_ZG_1_BIT 0x04 +#define MPU6050_SELF_TEST_ZG_1_LENGTH 0x05 + +#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 + +class MPU6050 +{ +public: + using SlaveId = uint8_t; // (0 - 3) + + struct Motion3 { + int16_t x{}; + int16_t y{}; + int16_t z{}; + size_t printTo(Print& p) const; + }; + + struct Motion6 { + Motion3 accel{}; + Motion3 gyro{}; + size_t printTo(Print& p) const; + }; + /** Default constructor, uses default I2C address. + * @see MPU6050_DEFAULT_ADDRESS + */ + 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(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 initialize(); + + /** Verify the I2C connection. + * Make sure the device is connected and responds as expected. + * @return True if connection is valid, false otherwise + */ + bool 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 getAuxVDDIOLevel() + { + return readBit(MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT); + } + + /** 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 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 getRate() + { + return readByte(MPU6050_RA_SMPLRT_DIV); + } + + /** Set gyroscope sample rate divider. + * @param rate New sample rate divider + * @see getRate() + * @see MPU6050_RA_SMPLRT_DIV + */ + void 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. + * + * 
+         * 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]
+         *
+ * + * @return FSYNC configuration value + */ + uint8_t getExternalFrameSync() + { + return readBits(MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH); + } + /** Set external FSYNC configuration. + * @see getExternalFrameSync() + * @see MPU6050_RA_CONFIG + * @param sync New FSYNC configuration value + */ + void 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. + * + * 
+         *          |   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
+         *
+ * + * @return DLFP configuration + * @see MPU6050_RA_CONFIG + * @see MPU6050_CFG_DLPF_CFG_BIT + * @see MPU6050_CFG_DLPF_CFG_LENGTH + */ + uint8_t getDLPFMode() + { + return readBits(MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH); + } + /** 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 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. + * + * 
+         * 0 = +/- 250 degrees/sec
+         * 1 = +/- 500 degrees/sec
+         * 2 = +/- 1000 degrees/sec
+         * 3 = +/- 2000 degrees/sec
+         *
+ * + * @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 getFullScaleGyroRange() + { + return readBits(MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH); + } + + /** 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 setFullScaleGyroRange(uint8_t range) + { + I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, + range); + } + + // SELF TEST FACTORY TRIM VALUES + /** Get self-test factory trim value for accelerometer X axis. + * @return factory trim value + * @see MPU6050_RA_SELF_TEST_X + */ + uint8_t getAccelXSelfTestFactoryTrim(); + + /** Get self-test factory trim value for accelerometer Y axis. + * @return factory trim value + * @see MPU6050_RA_SELF_TEST_Y + */ + uint8_t getAccelYSelfTestFactoryTrim(); + + /** Get self-test factory trim value for accelerometer Z axis. + * @return factory trim value + * @see MPU6050_RA_SELF_TEST_Z + */ + uint8_t getAccelZSelfTestFactoryTrim(); + + /** Get self-test factory trim value for gyro X axis. + * @return factory trim value + * @see MPU6050_RA_SELF_TEST_X + */ + uint8_t getGyroXSelfTestFactoryTrim(); + + /** Get self-test factory trim value for gyro Y axis. + * @return factory trim value + * @see MPU6050_RA_SELF_TEST_Y + */ + uint8_t getGyroYSelfTestFactoryTrim(); + + /** Get self-test factory trim value for gyro Z axis. + * @return factory trim value + * @see MPU6050_RA_SELF_TEST_Z + */ + uint8_t getGyroZSelfTestFactoryTrim(); + + // ACCEL_CONFIG register + + /** Get self-test enabled setting for accelerometer X axis. + * @return Self-test enabled value + * @see MPU6050_RA_ACCEL_CONFIG + */ + bool getAccelXSelfTest() + { + return readBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT); + } + /** Get self-test enabled setting for accelerometer X axis. + * @param enabled Self-test enabled value + * @see MPU6050_RA_ACCEL_CONFIG + */ + void 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 getAccelYSelfTest() + { + return readBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT); + } + /** Get self-test enabled value for accelerometer Y axis. + * @param enabled Self-test enabled value + * @see MPU6050_RA_ACCEL_CONFIG + */ + void 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 getAccelZSelfTest() + { + return readBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT); + } + /** Set self-test enabled value for accelerometer Z axis. + * @param enabled Self-test enabled value + * @see MPU6050_RA_ACCEL_CONFIG + */ + void 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. + * + * 
+         * 0 = +/- 2g
+         * 1 = +/- 4g
+         * 2 = +/- 8g
+         * 3 = +/- 16g
+         *
+ * + * @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 getFullScaleAccelRange() + { + return readBits(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH); + } + /** Set full-scale accelerometer range. + * @param range New full-scale accelerometer range setting + * @see getFullScaleAccelRange() + */ + void 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: + * + * 
+         *    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.
+         *
+ * + * 
+         * 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
+         *
+ * + * @return Current high-pass filter configuration + * @see MPU6050_DHPF_RESET + * @see MPU6050_RA_ACCEL_CONFIG + */ + uint8_t getDHPFMode() + { + return readBits(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH); + } + /** 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 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 getFreefallDetectionThreshold() + { + return readByte(MPU6050_RA_FF_THR); + } + /** Get free-fall event acceleration threshold. + * @param threshold New free-fall acceleration threshold value (LSB = 2mg) + * @see getFreefallDetectionThreshold() + * @see MPU6050_RA_FF_THR + */ + void 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 getFreefallDetectionDuration() + { + return readByte(MPU6050_RA_FF_DUR); + } + /** Get free-fall event duration threshold. + * @param duration New free-fall duration threshold value (LSB = 1ms) + * @see getFreefallDetectionDuration() + * @see MPU6050_RA_FF_DUR + */ + void 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 getMotionDetectionThreshold() + { + return readByte(MPU6050_RA_MOT_THR); + } + /** Set motion detection event acceleration threshold. + * @param threshold New motion detection acceleration threshold value (LSB = + * 2mg) + * @see getMotionDetectionThreshold() + * @see MPU6050_RA_MOT_THR + */ + void 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 getMotionDetectionDuration() + { + return readByte(MPU6050_RA_MOT_DUR); + } + /** Set motion detection event duration threshold. + * @param duration New motion detection duration threshold value (LSB = 1ms) + * @see getMotionDetectionDuration() + * @see MPU6050_RA_MOT_DUR + */ + void 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 getZeroMotionDetectionThreshold() + { + return readByte(MPU6050_RA_ZRMOT_THR); + } + /** 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 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 getZeroMotionDetectionDuration() + { + return readByte(MPU6050_RA_ZRMOT_DUR); + } + /** 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 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 getTempFIFOEnabled() + { + return readBit(MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT); + } + /** Set temperature FIFO enabled value. + * @param enabled New temperature FIFO enabled value + * @see getTempFIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ + void 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 getXGyroFIFOEnabled() + { + return readBit(MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT); + } + /** Set gyroscope X-axis FIFO enabled value. + * @param enabled New gyroscope X-axis FIFO enabled value + * @see getXGyroFIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ + void 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 getYGyroFIFOEnabled() + { + return readBit(MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT); + } + /** Set gyroscope Y-axis FIFO enabled value. + * @param enabled New gyroscope Y-axis FIFO enabled value + * @see getYGyroFIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ + void 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 getZGyroFIFOEnabled() + { + return readBit(MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT); + } + /** Set gyroscope Z-axis FIFO enabled value. + * @param enabled New gyroscope Z-axis FIFO enabled value + * @see getZGyroFIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ + void 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 getAccelFIFOEnabled() + { + return readBit(MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT); + } + /** Set accelerometer FIFO enabled value. + * @param enabled New accelerometer FIFO enabled value + * @see getAccelFIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ + void 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 getSlave2FIFOEnabled() + { + return readBit(MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT); + } + /** Set Slave 2 FIFO enabled value. + * @param enabled New Slave 2 FIFO enabled value + * @see getSlave2FIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ + void 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 getSlave1FIFOEnabled() + { + return readBit(MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT); + } + /** Set Slave 1 FIFO enabled value. + * @param enabled New Slave 1 FIFO enabled value + * @see getSlave1FIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ + void 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 getSlave0FIFOEnabled() + { + return readBit(MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT); + } + /** Set Slave 0 FIFO enabled value. + * @param enabled New Slave 0 FIFO enabled value + * @see getSlave0FIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ + void 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 getMultiMasterEnabled() + { + return readBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT); + } + /** Set multi-master enabled value. + * @param enabled New multi-master enabled value + * @see getMultiMasterEnabled() + * @see MPU6050_RA_I2C_MST_CTRL + */ + void 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 getWaitForExternalSensorEnabled() + { + return readBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT); + } + /** 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 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 getSlave3FIFOEnabled() + { + return readBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT); + } + /** Set Slave 3 FIFO enabled value. + * @param enabled New Slave 3 FIFO enabled value + * @see getSlave3FIFOEnabled() + * @see MPU6050_RA_MST_CTRL + */ + void 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 getSlaveReadWriteTransitionEnabled() + { + return readBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT); + } + /** 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 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: + * + * 
+         * 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
+         *
+ * + * @return Current I2C master clock speed + * @see MPU6050_RA_I2C_MST_CTRL + */ + uint8_t getMasterClockSpeed() + { + return readBits(MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH); + } + /** Set I2C master clock speed. + * @reparam speed Current I2C master clock speed + * @see MPU6050_RA_I2C_MST_CTRL + */ + void 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 slaveId Slave ID (0-3) + * @return Current address for specified slave + * @see MPU6050_RA_I2C_SLV0_ADDR + */ + uint8_t getSlaveAddress(SlaveId slaveId); + /** Set the I2C address of the specified slave (0-3). + * @param slaveId Slave ID (0-3) + * @param address New address for specified slave + * @see getSlaveAddress() + * @see MPU6050_RA_I2C_SLV0_ADDR + */ + void setSlaveAddress(SlaveId slaveId, uint8_t 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 slaveId Slave ID (0-3) + * @return Current active register for specified slave + * @see MPU6050_RA_I2C_SLV0_REG + */ + uint8_t getSlaveRegister(SlaveId slaveId); + + /** Set the active internal register for the specified slave (0-3). + * @param slaveId Slave ID (0-3) + * @param reg New active register for specified slave + * @see getSlaveRegister() + * @see MPU6050_RA_I2C_SLV0_REG + */ + void setSlaveRegister(SlaveId slaveId, uint8_t 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 slaveId Slave ID (0-3) + * @return Current enabled value for specified slave + * @see MPU6050_RA_I2C_SLV0_CTRL + */ + bool getSlaveEnabled(SlaveId slaveId); + /** Set the enabled value for the specified slave (0-3). + * @param slaveId Slave ID (0-3) + * @param enabled New enabled value for specified slave + * @see getSlaveEnabled() + * @see MPU6050_RA_I2C_SLV0_CTRL + */ + void setSlaveEnabled(SlaveId slaveId, bool 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 slaveId Slave ID (0-3) + * @return Current word pair byte-swapping enabled value for specified slave + * @see MPU6050_RA_I2C_SLV0_CTRL + */ + bool getSlaveWordByteSwap(SlaveId slaveId); + + /** Set word pair byte-swapping enabled for the specified slave (0-3). + * @param slaveId Slave ID (0-3) + * @param enabled New word pair byte-swapping enabled value for specified slave + * @see getSlaveWordByteSwap() + * @see MPU6050_RA_I2C_SLV0_CTRL + */ + void setSlaveWordByteSwap(SlaveId slaveId, bool 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 slaveId Slave ID (0-3) + * @return Current write mode for specified slave (0 = register address + data, + * 1 = data only) + * @see MPU6050_RA_I2C_SLV0_CTRL + */ + bool getSlaveWriteMode(SlaveId slaveId); + /** Set write mode for the specified slave (0-3). + * @param slaveId Slave ID (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 setSlaveWriteMode(SlaveId slaveId, bool 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 slaveId Slave ID (0-3) + * @return Current word pair grouping order offset for specified slave + * @see MPU6050_RA_I2C_SLV0_CTRL + */ + bool getSlaveWordGroupOffset(SlaveId slaveId); + + /** Set word pair grouping order offset for the specified slave (0-3). + * @param slaveId Slave ID (0-3) + * @param enabled New word pair grouping order offset for specified slave + * @see getSlaveWordGroupOffset() + * @see MPU6050_RA_I2C_SLV0_CTRL + */ + void setSlaveWordGroupOffset(SlaveId slaveId, bool 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 slaveId Slave ID (0-3) + * @return Number of bytes to read for specified slave + * @see MPU6050_RA_I2C_SLV0_CTRL + */ + uint8_t getSlaveDataLength(SlaveId slaveId); + + /** Set number of bytes to read for the specified slave (0-3). + * @param slaveId Slave ID (0-3) + * @param length Number of bytes to read for specified slave + * @see getSlaveDataLength() + * @see MPU6050_RA_I2C_SLV0_CTRL + */ + void setSlaveDataLength(SlaveId slaveId, uint8_t 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 getSlave4Address() + { + return readByte(MPU6050_RA_I2C_SLV4_ADDR); + } + /** Set the I2C address of Slave 4. + * @param address New address for Slave 4 + * @see getSlave4Address() + * @see MPU6050_RA_I2C_SLV4_ADDR + */ + void 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 getSlave4Register() + { + return readByte(MPU6050_RA_I2C_SLV4_REG); + } + /** 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 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 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 getSlave4Enabled() + { + return readBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT); + } + /** Set the enabled value for Slave 4. + * @param enabled New enabled value for Slave 4 + * @see getSlave4Enabled() + * @see MPU6050_RA_I2C_SLV4_CTRL + */ + void 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 getSlave4InterruptEnabled() + { + return readBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT); + } + /** 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 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 getSlave4WriteMode() + { + return readBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT); + } + /** 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 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 getSlave4MasterDelay() + { + return readBits(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH); + } + /** Set Slave 4 master delay value. + * @param delay New Slave 4 master delay value + * @see getSlave4MasterDelay() + * @see MPU6050_RA_I2C_SLV4_CTRL + */ + void 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 getSlate4InputByte() + { + return readByte(MPU6050_RA_I2C_SLV4_DI); + } + + // 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 getPassthroughStatus() + { + return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT); + } + /** 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 getSlave4IsDone() + { + return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT); + } + /** 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 getLostArbitration() + { + return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT); + } + /** 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 getSlave4Nack() + { + return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT); + } + /** 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 getSlave3Nack() + { + return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT); + } + /** 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 getSlave2Nack() + { + return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT); + } + /** 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 getSlave1Nack() + { + return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT); + } + /** 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 getSlave0Nack() + { + return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT); + } + + // 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 getInterruptMode() + { + return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT); + } + /** 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 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 getInterruptDrive() + { + return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT); + } + /** 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 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 getInterruptLatch() + { + return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT); + } + /** 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 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 getInterruptLatchClear() + { + return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT); + } + /** 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 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 getFSyncInterruptLevel() + { + return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT); + } + /** 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 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 getFSyncInterruptEnabled() + { + return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT); + } + /** 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 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 getI2CBypassEnabled() + { + return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT); + } + /** 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 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 getClockOutputEnabled() + { + return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT); + } + /** 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 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 getIntEnabled() + { + return readByte(MPU6050_RA_INT_ENABLE); + } + /** 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 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 getIntFreefallEnabled() + { + return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT); + } + /** 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 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 getIntMotionEnabled() + { + return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT); + } + /** 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 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 getIntZeroMotionEnabled() + { + return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT); + } + /** 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 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 getIntFIFOBufferOverflowEnabled() + { + return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT); + } + /** 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 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 getIntI2CMasterEnabled() + { + return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT); + } + /** 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 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 getIntDataReadyEnabled() + { + return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT); + } + /** 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 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 getIntStatus() + { + return readByte(MPU6050_RA_INT_STATUS); + } + /** 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 getIntFreefallStatus() + { + return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT); + } + /** 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 getIntMotionStatus() + { + return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT); + } + + /** 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 getIntZeroMotionStatus() + { + return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT); + } + + /** 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 getIntFIFOBufferOverflowStatus() + { + return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT); + } + + /** 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 getIntI2CMasterStatus() + { + return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT); + } + + /** 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 getIntDataReadyStatus() + { + return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT); + } + + // ACCEL_*OUT_* registers + + /** Get raw 6-axis motion sensor readings (accel/gyro). + * Retrieves all currently available motion sensor values. + * @return container for 3-axis accelerometer and 3-axis gyroscope values + * @see getAcceleration() + * @see getAngularRate() + * @see MPU6050_RA_ACCEL_XOUT_H + */ + Motion6 getMotion6(); + + /** 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: + * + * 
+     * 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
+     *
+ * + * @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 + */ + Motion3 getAcceleration(); + + /** 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 getAccelerationX() + { + return readReg(MPU6050_RA_ACCEL_XOUT_H); + } + /** 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 getAccelerationY() + { + return readReg(MPU6050_RA_ACCEL_YOUT_H); + } + /** 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 getAccelerationZ() + { + return readReg(MPU6050_RA_ACCEL_ZOUT_H); + } + + // 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 getTemperature() + { + return readReg(MPU6050_RA_TEMP_OUT_H); + } + + // 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: + * + * 
+     * 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
+     *
+ * + * @return container for 3-axis gyro values + * @see getMotion6() + * @see MPU6050_RA_GYRO_XOUT_H + */ + Motion3 getAngularRate(); + + /** 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 getAngularRateX() + { + return readReg(MPU6050_RA_GYRO_XOUT_H); + } + /** 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 getAngularRateY() + { + return readReg(MPU6050_RA_GYRO_YOUT_H); + } + /** 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 getAngularRateZ() + { + return readReg(MPU6050_RA_GYRO_ZOUT_H); + } + + int16_t getAngularRateZ2() + { + return readReg(MPU6050_RA_GYRO_ZOUT_H); + } + + // 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 getExternalSensorByte(int position) + { + return readByte(MPU6050_RA_EXT_SENS_DATA_00 + position); + } + /** Read word (2 bytes) from external sensor data registers. + * @param position Starting position (0-21) + * @return Word read from register + * @see getExternalSensorByte() + */ + uint16_t getExternalSensorWord(int position) + { + return readReg(MPU6050_RA_EXT_SENS_DATA_00 + position); + } + /** 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 getExternalSensorDWord(int position) + { + return readReg(MPU6050_RA_EXT_SENS_DATA_00 + position); + } + + // MOT_DETECT_STATUS register + + /** Get full motion detection status register content (all bits). + * @return Motion detection status byte + * @see MPU6050_RA_MOT_DETECT_STATUS + */ + uint8_t getMotionStatus() + { + return readByte(MPU6050_RA_MOT_DETECT_STATUS); + } + /** 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 getXNegMotionDetected() + { + return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT); + } + /** 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 getXPosMotionDetected() + { + return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT); + } + /** 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 getYNegMotionDetected() + { + return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT); + } + /** 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 getYPosMotionDetected() + { + return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT); + } + /** 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 getZNegMotionDetected() + { + return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT); + } + /** 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 getZPosMotionDetected() + { + return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT); + } + /** Get zero motion detection interrupt status. + * @return Motion detection status + * @see MPU6050_RA_MOT_DETECT_STATUS + * @see MPU6050_MOTION_MOT_ZRMOT_BIT + */ + bool getZeroMotionDetected() + { + return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT); + } + + // 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 slaveId Slave ID (0-3) + * @param data Byte to write + * @see MPU6050_RA_I2C_SLV0_DO + */ + void setSlaveOutputByte(SlaveId slaveId, uint8_t 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 getExternalShadowDelayEnabled() + { + return readBit(MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT); + } + /** 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 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 slaveId Slave ID (0-4) + * @return Current slave delay enabled status. + * @see MPU6050_RA_I2C_MST_DELAY_CTRL + * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT + */ + bool getSlaveDelayEnabled(SlaveId slaveId); + + /** Set slave delay enabled status. + * @param slaveId Slave ID (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 setSlaveDelayEnabled(SlaveId slaveId, bool enabled) + { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, slaveId, 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 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 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 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 getAccelerometerPowerOnDelay() + { + return readBits(MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, + MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH); + } + /** 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 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: + * + * 
+     * FF_COUNT | Counter Decrement
+     * ---------+------------------
+     * 0        | Reset
+     * 1        | 1
+     * 2        | 2
+     * 3        | 4
+     *
+ * + * 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 getFreefallDetectionCounterDecrement() + { + return readBits(MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH); + } + /** 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 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: + * + * 
+     * MOT_COUNT | Counter Decrement
+     * ----------+------------------
+     * 0         | Reset
+     * 1         | 1
+     * 2         | 2
+     * 3         | 4
+     *
+ * + * 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 getMotionDetectionCounterDecrement() + { + return readBits(MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH); + } + /** 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 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 getFIFOEnabled() + { + return readBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT); + } + /** Set FIFO enabled status. + * @param enabled New FIFO enabled status + * @see getFIFOEnabled() + * @see MPU6050_RA_USER_CTRL + * @see MPU6050_USERCTRL_FIFO_EN_BIT + */ + void 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 getI2CMasterModeEnabled() + { + return readBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT); + } + /** 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 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 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 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 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 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 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 getSleepEnabled() + { + return readBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT); + } + /** 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 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 getWakeCycleEnabled() + { + return readBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT); + } + /** 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 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 getTempSensorEnabled() + { + return readBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT); // 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 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 getClockSource() + { + return readBits(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH); + } + /** 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: + * + * 
+     * 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
+     *
+ * + * @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 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: + * + * 
+     * LP_WAKE_CTRL | Wake-up Frequency
+     * -------------+------------------
+     * 0            | 1.25 Hz
+     * 1            | 2.5 Hz
+     * 2            | 5 Hz
+     * 3            | 10 Hz
+     *
+ * + * 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 getWakeFrequency() + { + return readBits(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH); + } + /** Set wake frequency in Accel-Only Low Power Mode. + * @param frequency New wake frequency + * @see MPU6050_RA_PWR_MGMT_2 + */ + void 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 getStandbyXAccelEnabled() + { + return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT); + } + /** 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 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 getStandbyYAccelEnabled() + { + return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT); + } + /** 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 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 getStandbyZAccelEnabled() + { + return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT); + } + /** 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 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 getStandbyXGyroEnabled() + { + return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT); + } + /** 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 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 getStandbyYGyroEnabled() + { + return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT); + } + /** 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 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 getStandbyZGyroEnabled() + { + return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT); + } + /** 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 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 getFIFOCount() + { + uint8_t buffer[2] = {0}; + 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 getFIFOByte() + { + return readByte(MPU6050_RA_FIFO_R_W); + } + + /** Write byte to FIFO buffer. + * @see getFIFOByte() + * @see MPU6050_RA_FIFO_R_W + */ + void setFIFOByte(uint8_t data) + { + I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data); + } + + void getFIFOBytes(uint8_t* data, uint8_t length) + { + I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, 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 getDeviceID() + { + return readBits(MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH); + } + /** 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 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 getOTPBankValid() + { + return readBit(MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT); + } + void setOTPBankValid(bool enabled) + { + I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled); + } + int8_t getXGyroOffsetTC() + { + return readBits(MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH); + } + void setXGyroOffsetTC(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 getYGyroOffsetTC() + { + return readBits(MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH); + } + void setYGyroOffsetTC(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 getZGyroOffsetTC() + { + return readBits(MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH); + } + void setZGyroOffsetTC(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 getXFineGain() + { + return readByte(MPU6050_RA_X_FINE_GAIN); + } + void setXFineGain(int8_t gain) + { + I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain); + } + + // Y_FINE_GAIN register + + int8_t getYFineGain() + { + return readByte(MPU6050_RA_Y_FINE_GAIN); + } + void setYFineGain(int8_t gain) + { + I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain); + } + + // Z_FINE_GAIN register + + int8_t getZFineGain() + { + return readByte(MPU6050_RA_Z_FINE_GAIN); + } + void setZFineGain(int8_t gain) + { + I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain); + } + + // XA_OFFS_* registers + int16_t getXAccelOffset(); + void setXAccelOffset(int16_t offset) + { + I2Cdev::writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset); + } + + // YA_OFFS_* register + int16_t getYAccelOffset(); + void setYAccelOffset(int16_t offset) + { + I2Cdev::writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset); + } + + // ZA_OFFS_* register + int16_t getZAccelOffset(); + void setZAccelOffset(int16_t offset) + { + I2Cdev::writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset); + } + + // XG_OFFS_USR* registers + int16_t getXGyroOffset() + { + return readReg(MPU6050_RA_XG_OFFS_USRH); + } + void setXGyroOffset(int16_t offset) + { + I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset); + } + // YG_OFFS_USR* register + int16_t getYGyroOffset() + { + return readReg(MPU6050_RA_YG_OFFS_USRH); + } + + void setYGyroOffset(int16_t offset) + { + I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset); + } + + // ZG_OFFS_USR* register + int16_t getZGyroOffset() + { + return readReg(MPU6050_RA_ZG_OFFS_USRH); + } + + void setZGyroOffset(int16_t offset) + { + I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset); + } + + // INT_ENABLE register (DMP functions) + bool getIntPLLReadyEnabled() + { + return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT); + } + void setIntPLLReadyEnabled(bool enabled) + { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled); + } + bool getIntDMPEnabled() + { + return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT); + } + void setIntDMPEnabled(bool enabled) + { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled); + } + + // DMP_INT_STATUS + bool getDMPInt5Status() + { + return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT); + } + bool getDMPInt4Status() + { + return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT); + } + bool getDMPInt3Status() + { + return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT); + } + bool getDMPInt2Status() + { + return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT); + } + bool getDMPInt1Status() + { + return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT); + } + bool getDMPInt0Status() + { + return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT); + } + + // INT_STATUS register (DMP functions) + + bool getIntPLLReadyStatus() + { + return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT); + } + bool getIntDMPStatus() + { + return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT); + } + + // USER_CTRL register (DMP functions) + + bool getDMPEnabled() + { + return readBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT); + } + void setDMPEnabled(bool enabled) + { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled); + } + void resetDMP() + { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true); + } + + // BANK_SEL register + void setMemoryBank(uint8_t bank, bool prefetchEnabled = false, bool userBank = false); + + // MEM_START_ADDR register + void setMemoryStartAddress(uint8_t address) + { + I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address); + } + + // MEM_R_W register + uint8_t readMemoryByte() + { + return readByte(MPU6050_RA_MEM_R_W); + } + + void writeMemoryByte(uint8_t data) + { + I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_R_W, data); + } + + // DMP_CFG_1 register + uint8_t getDMPConfig1() + { + return readByte(MPU6050_RA_DMP_CFG_1); + } + + void setDMPConfig1(uint8_t config) + { + I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config); + } + + // DMP_CFG_2 register + uint8_t getDMPConfig2() + { + return readByte(MPU6050_RA_DMP_CFG_2); + } + + void setDMPConfig2(uint8_t config) + { + I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config); + } + +private: + // I2C helpers + uint8_t readBit(uint8_t regAddr, uint8_t bitNum); + uint8_t readBits(uint8_t regAddr, uint8_t bitStart, uint8_t length); + uint8_t readByte(uint8_t regAddr); + + template T readReg(uint8_t regAddr); + + uint8_t devAddr; +}; + +template T MPU6050::readReg(uint8_t regAddr) +{ + static_assert(std::is_fundamental::value, "T must be an fundamental type."); + + const auto sz = sizeof(T); + uint8_t buffer[sz] = {0}; + //data follow big endian convention + I2Cdev::readBytes(devAddr, regAddr, sz, buffer); + + T result{}; + for(size_t i{0}; i < sz; ++i) { + result |= static_cast(buffer[i]) << (8 * (sz - i - 1)); + } + return result; +} + +namespace detail +{ +template inline T concat(uint8_t bits_15_8, uint8_t bits_7_0) +{ + return (static_cast(bits_15_8) << 8) | bits_7_0; +} +} // namespace detail diff --git a/Sming/Libraries/MPU6050/README.rst b/Sming/Libraries/MPU6050/README.rst new file mode 100644 index 0000000000..8018fe0acd --- /dev/null +++ b/Sming/Libraries/MPU6050/README.rst @@ -0,0 +1,19 @@ +MPU6050 Gyro / Accelerometer +============================= + + +MPU6050 Six-Axis (Gyro + Accelerometer) +Based on code from `jrowberg/i2cdevlib `__ @ 605a740. Most of the code is the same, except: + +- Removed MPU6050::ReadRegister function due to incompatibility. It is also not used anywhere in the original code. +- MPU6050_6Axis_MotionApps20.h and MPU6050_9Axis_MotionApps41.h are not included due to deps to freeRTOS. helper_3dmath.h is also not included since it is only used in the above mentioned files. +- Removed map function in favor of the Sming built-in one. +- Adapted include path, coding style and applied clangformat +- Deleted Calibration and Memory Block related code for code quality reason + + +API Documentation +----------------- + +.. doxygenclass:: MPU6050 + :members: diff --git a/Sming/Libraries/MPU6050/component.mk b/Sming/Libraries/MPU6050/component.mk new file mode 100644 index 0000000000..2416b727f3 --- /dev/null +++ b/Sming/Libraries/MPU6050/component.mk @@ -0,0 +1,2 @@ +COMPONENT_DOXYGEN_INPUT := . +COMPONENT_DEPENDS := I2Cdev diff --git a/samples/Accel_Gyro_MPU6050/Makefile b/samples/Accel_Gyro_MPU6050/Makefile new file mode 100644 index 0000000000..ff51b6c3a7 --- /dev/null +++ b/samples/Accel_Gyro_MPU6050/Makefile @@ -0,0 +1,9 @@ +##################################################################### +#### Please don't change this file. Use component.mk instead #### +##################################################################### + +ifndef SMING_HOME +$(error SMING_HOME is not set: please configure it as an environment variable) +endif + +include $(SMING_HOME)/project.mk diff --git a/samples/Accel_Gyro_MPU6050/README.rst b/samples/Accel_Gyro_MPU6050/README.rst new file mode 100644 index 0000000000..d43abbcfff --- /dev/null +++ b/samples/Accel_Gyro_MPU6050/README.rst @@ -0,0 +1,7 @@ +MPU6050 Six-Axis (Gyro + Accelerometer) +================ + +MPU6050 sensor reader. + +.. image:: mpu6050.jpg + :height: 192px diff --git a/samples/Accel_Gyro_MPU6050/app/application.cpp b/samples/Accel_Gyro_MPU6050/app/application.cpp new file mode 100644 index 0000000000..0190f99c03 --- /dev/null +++ b/samples/Accel_Gyro_MPU6050/app/application.cpp @@ -0,0 +1,24 @@ +#include +#include + +constexpr uint16_t mainLoopInterval = 20; // ms +SimpleTimer mainLoopTimer; +MPU6050 mpu; + +void mainLoop() +{ + const MPU6050::Motion6 accelGyro = mpu.getMotion6(); + Serial << accelGyro << endl; +} + +void init() +{ + Serial.begin(SERIAL_BAUD_RATE); // 115200 by default + Serial.systemDebugOutput(true); // Enable debug output to serial + + Wire.begin(DEFAULT_SDA_PIN, DEFAULT_SCL_PIN); + mpu.initialize(); + Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed"); + + mainLoopTimer.initializeMs(mainLoop).start(); +} diff --git a/samples/Accel_Gyro_MPU6050/component.mk b/samples/Accel_Gyro_MPU6050/component.mk new file mode 100644 index 0000000000..54e9cf0c23 --- /dev/null +++ b/samples/Accel_Gyro_MPU6050/component.mk @@ -0,0 +1,2 @@ +ARDUINO_LIBRARIES := MPU6050 +DISABLE_NETWORK := 1 diff --git a/samples/Accel_Gyro_MPU6050/mpu6050.jpg b/samples/Accel_Gyro_MPU6050/mpu6050.jpg new file mode 100644 index 0000000000..3d478a9db9 Binary files /dev/null and b/samples/Accel_Gyro_MPU6050/mpu6050.jpg differ