MPU6050寄存器
参考：(81条消息) MPU6050寄存器介绍_m0_46278925的博客-CSDN博客
#include <math.h>
#include "stm32f4xx.h"
#include "FreeRTOS.h"
#include "task.h"
#include "i2cdev.h"
#include "mpu6500.h"
static uint8_t devAddr;
static I2C_Dev *I2Cx;
static uint8_t buffer[14];
static bool isInit;
static const unsigned short mpu6500StTb[256] = {
2620,2646,2672,2699,2726,2753,2781,2808, //7
2837,2865,2894,2923,2952,2981,3011,3041, //15
3072,3102,3133,3165,3196,3228,3261,3293, //23
3326,3359,3393,3427,3461,3496,3531,3566, //31
3602,3638,3674,3711,3748,3786,3823,3862, //39
3900,3939,3979,4019,4059,4099,4140,4182, //47
4224,4266,4308,4352,4395,4439,4483,4528, //55
4574,4619,4665,4712,4759,4807,4855,4903, //63
4953,5002,5052,5103,5154,5205,5257,5310, //71
5363,5417,5471,5525,5581,5636,5693,5750, //79
5807,5865,5924,5983,6043,6104,6165,6226, //87
6289,6351,6415,6479,6544,6609,6675,6742, //95
6810,6878,6946,7016,7086,7157,7229,7301, //103
7374,7448,7522,7597,7673,7750,7828,7906, //111
7985,8065,8145,8227,8309,8392,8476,8561, //119
8647,8733,8820,8909,8998,9088,9178,9270,
9363,9457,9551,9647,9743,9841,9939,10038,
10139,10240,10343,10446,10550,10656,10763,10870,
10979,11089,11200,11312,11425,11539,11654,11771,
11889,12008,12128,12249,12371,12495,12620,12746,
12874,13002,13132,13264,13396,13530,13666,13802,
13940,14080,14221,14363,14506,14652,14798,14946,
15096,15247,15399,15553,15709,15866,16024,16184,
16346,16510,16675,16842,17010,17180,17352,17526,
17701,17878,18057,18237,18420,18604,18790,18978,
19167,19359,19553,19748,19946,20145,20347,20550,
20756,20963,21173,21385,21598,21814,22033,22253,
22475,22700,22927,23156,23388,23622,23858,24097,
24338,24581,24827,25075,25326,25579,25835,26093,
26354,26618,26884,27153,27424,27699,27976,28255,
28538,28823,29112,29403,29697,29994,30294,30597,
30903,31212,31524,31839,32157,32479,32804,33132
};
/** Default constructor, uses default I2C address.
* @see MPU6500_DEFAULT_ADDRESS
*/
void mpu6500Init(I2C_Dev *i2cPort)
{
if (isInit)
return;
I2Cx = i2cPort;
devAddr = MPU6500_ADDRESS_AD0_HIGH; //传感器地址
isInit = true;
}
bool mpu6500Test(void)
{
bool testStatus;
if (!isInit)
return false;
testStatus = mpu6500TestConnection();
return testStatus;
}
/** Verify the I2C connection.
* Make sure the device is connected and responds as expected.
* @return True if connection is valid, false otherwise
*/
bool mpu6500TestConnection()
{
return mpu6500GetDeviceID () == 0x38; //0x38 is MPU9250 ID with AD0 = 0;
}
/** Do a MPU6500 self test.
* @return True if self test passed, false otherwise
*/
bool mpu6500SelfTest()
{
uint8_t rawData[6] = {0, 0, 0, 0, 0, 0};
uint8_t saveReg[5];
uint8_t selfTest[6];
int32_t gAvg[3]={0}, aAvg[3]={0}, aSTAvg[3]={0}, gSTAvg[3]={0};
int32_t factoryTrim[6];
float aDiff[3], gDiff[3];
uint8_t FS = 0;
int i;
// Save old configuration
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, &saveReg[0]);
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_CONFIG, &saveReg[1]);
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, &saveReg[2]);
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG_2, &saveReg[3]);
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, &saveReg[4]);
// Write test configuration
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, 0x00); // Set gyro sample rate to 1 kHz
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_CONFIG, 0x02); // Set gyro sample rate to 1 kHz and DLPF to 92 Hz
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, 1<<FS); // Set full scale range for the gyro to 250 dps
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG_2, 0x02); // Set accelerometer rate to 1 kHz and bandwidth to 92 Hz
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, 1<<FS); // Set full scale range for the accelerometer to 2 g
for(i = 0; i < 200; i++)
{
// get average current values of gyro and acclerometer
i2cdevRead(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
aAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
aAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
aAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
i2cdevRead(I2Cx, devAddr, MPU6500_RA_GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
gAvg[0] += (int16_t)((int16_t)rawData[0] << 8) | rawData[1]; // Turn the MSB and LSB into a signed 16-bit value
gAvg[1] += (int16_t)((int16_t)rawData[2] << 8) | rawData[3];
gAvg[2] += (int16_t)((int16_t)rawData[4] << 8) | rawData[5];
}
for (i = 0; i < 3; i++)
{ // Get average of 200 values and store as average current readings
aAvg[i] /= 200;
gAvg[i] /= 200;
}
// Configure the accelerometer for self-test
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
vTaskDelay(25); // Delay a while to let the device stabilize
for(i = 0; i < 200; i++)
{
// get average self-test values of gyro and acclerometer
i2cdevRead(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
aSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
aSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
aSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
i2cdevRead(I2Cx, devAddr, MPU6500_RA_GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
gSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
gSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
gSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
}
for (i =0; i < 3; i++)
{ // Get average of 200 values and store as average self-test readings
aSTAvg[i] /= 200;
gSTAvg[i] /= 200;
}
// Configure the gyro and accelerometer for normal operation
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, 0x00);
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, 0x00);
vTaskDelay(25); // Delay a while to let the device stabilize
// Retrieve accelerometer and gyro factory Self-Test Code from USR_Reg
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_X_ACCEL, &selfTest[0]); // X-axis accel self-test results
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_Y_ACCEL, &selfTest[1]); // Y-axis accel self-test results
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_Z_ACCEL, &selfTest[2]); // Z-axis accel self-test results
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_X_GYRO, &selfTest[3]); // X-axis gyro self-test results
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_Y_GYRO, &selfTest[4]); // Y-axis gyro self-test results
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_Z_GYRO, &selfTest[5]); // Z-axis gyro self-test results
for (i = 0; i < 6; i++)
{
if (selfTest[i] != 0)
{
factoryTrim[i] = mpu6500StTb[selfTest[i] - 1];
}
else
{
factoryTrim[i] = 0;
}
}
// Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
// To get percent, must multiply by 100
for (i = 0; i < 3; i++)
{
aDiff[i] = 100.0f*((float)((aSTAvg[i] - aAvg[i]) - factoryTrim[i]))/factoryTrim[i]; // Report percent differences
gDiff[i] = 100.0f*((float)((gSTAvg[i] - gAvg[i]) - factoryTrim[i+3]))/factoryTrim[i+3]; // Report percent differences
// printf("a[%d] Avg:%d, StAvg:%d, Shift:%d, FT:%d, Diff:%0.2f\n", i, aAvg[i], aSTAvg[i], aSTAvg[i] - aAvg[i], factoryTrim[i], aDiff[i]);
// printf("g[%d] Avg:%d, StAvg:%d, Shift:%d, FT:%d, Diff:%0.2f\n", i, gAvg[i], gSTAvg[i], gSTAvg[i] - gAvg[i], factoryTrim[i+3], gDiff[i]);
}
// Restore old configuration
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, saveReg[0]);
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_CONFIG, saveReg[1]);
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, saveReg[2]);
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG_2, saveReg[3]);
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, saveReg[4]);
// Check result
if (mpu6500EvaluateSelfTest(MPU6500_ST_GYRO_LOW, MPU6500_ST_GYRO_HIGH, gDiff[0], "gyro X") &&
mpu6500EvaluateSelfTest(MPU6500_ST_GYRO_LOW, MPU6500_ST_GYRO_HIGH, gDiff[1], "gyro Y") &&
mpu6500EvaluateSelfTest(MPU6500_ST_GYRO_LOW, MPU6500_ST_GYRO_HIGH, gDiff[2], "gyro Z") &&
mpu6500EvaluateSelfTest(MPU6500_ST_ACCEL_LOW, MPU6500_ST_ACCEL_HIGH, aDiff[0], "acc X") &&
mpu6500EvaluateSelfTest(MPU6500_ST_ACCEL_LOW, MPU6500_ST_ACCEL_HIGH, aDiff[1], "acc Y") &&
mpu6500EvaluateSelfTest(MPU6500_ST_ACCEL_LOW, MPU6500_ST_ACCEL_HIGH, aDiff[2], "acc Z"))
{
return true;
}
else
{
return false;
}
}
/** Evaluate the values from a MPU6500 self test.
* @param low The low limit of the self test
* @param high The high limit of the self test
* @param value The value to compare with.
* @param string A pointer to a string describing the value.
* @return True if self test within low - high limit, false otherwise
*/
bool mpu6500EvaluateSelfTest(float low, float high, float value, char* string)
{
if (value < low || value > high)
{
printf("Self test %s [FAIL]. low: %0.2f, high: %0.2f, measured: %0.2f\n",
string, (double)low, (double)high, (double)value);
return false;
}
return true;
}
// 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-6500 Product Specification document.
*
* @return Current sample rate
* @see MPU6500_RA_SMPLRT_DIV
*/
uint8_t mpu6500GetRate()//陀螺仪采样率
{
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, buffer);
return buffer[0];
}
/** Set gyroscope sample rate divider.
* @param rate New sample rate divider
* @see getRate()
* @see MPU6500_RA_SMPLRT_DIV
*/
void mpu6500SetRate(uint8_t rate) //设置陀螺仪采样率
{
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, rate);
}
// CONFIG register
/** Get external FSYNC configuration.
* Configures the external Frame Synchronization (FSYNC) pin sampling. An
* external signal connected to the FSYNC pin can be sampled by configuring
* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
* strobes may be captured. The latched FSYNC signal will be sampled at the
* Sampling Rate, as defined in register 25. After sampling, the latch will
* reset to the current FSYNC signal state.
*
* The sampled value will be reported in place of the least significant bit in
* a sensor data register determined by the value of EXT_SYNC_SET according to
* the following table.
*
* <pre>
* EXT_SYNC_SET | FSYNC Bit Location
* -------------+-------------------
* 0 | Input disabled
* 1 | TEMP_OUT_L[0]
* 2 | GYRO_XOUT_L[0]
* 3 | GYRO_YOUT_L[0]
* 4 | GYRO_ZOUT_L[0]
* 5 | ACCEL_XOUT_L[0]
* 6 | ACCEL_YOUT_L[0]
* 7 | ACCEL_ZOUT_L[0]
* </pre>
*
* @return FSYNC configuration value
*/
uint8_t mpu6500GetExternalFrameSync()
{
i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_CONFIG, MPU6500_CFG_EXT_SYNC_SET_BIT,
MPU6500_CFG_EXT_SYNC_SET_LENGTH, buffer);
return buffer[0];
}
/** Set external FSYNC configuration.
* @see getExternalFrameSync()
* @see MPU6500_RA_CONFIG
* @param sync New FSYNC configuration value
*/
void mpu6500SetExternalFrameSync(uint8_t sync)
{
i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_CONFIG, MPU6500_CFG_EXT_SYNC_SET_BIT,
MPU6500_CFG_EXT_SYNC_SET_LENGTH, sync);
}
/** Get digital low-pass filter configuration.
* The DLPF_CFG parameter sets the digital low pass filter configuration. It
* also determines the internal sampling rate used by the device as shown in
* the table below.
*
* Note: The accelerometer output rate is 1kHz. This means that for a Sample
* Rate greater than 1kHz, the same accelerometer sample may be output to the
* FIFO, DMP, and sensor registers more than once.
*
* <pre>
* | ACCELEROMETER | GYROSCOPE
* DLPF_CFG | Bandwidth | Delay | Bandwidth | Delay | Sample Rate
* ---------+-----------+--------+-----------+--------+-------------
* 0 | 260Hz | 0ms | 256Hz | 0.98ms | 8kHz
* 1 | 184Hz | 2.0ms | 188Hz | 1.9ms | 1kHz
* 2 | 94Hz | 3.0ms | 98Hz | 2.8ms | 1kHz
* 3 | 44Hz | 4.9ms | 42Hz | 4.8ms | 1kHz
* 4 | 21Hz | 8.5ms | 20Hz | 8.3ms | 1kHz
* 5 | 10Hz | 13.8ms | 10Hz | 13.4ms | 1kHz
* 6 | 5Hz | 19.0ms | 5Hz | 18.6ms | 1kHz
* 7 | -- Reserved -- | -- Reserved -- | Reserved
* </pre>
*
* @return DLFP configuration
* @see MPU6500_RA_CONFIG
* @see MPU6500_CFG_DLPF_CFG_BIT
* @see MPU6500_CFG_DLPF_CFG_LENGTH
*/
uint8_t mpu6500GetDLPFMode()
{
i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_CONFIG, MPU6500_CFG_DLPF_CFG_BIT,
MPU6500_CFG_DLPF_CFG_LENGTH, buffer);
return buffer[0];
}
/** Set digital low-pass filter configuration.
* @param mode New DLFP configuration setting
* @see getDLPFBandwidth()
* @see MPU6500_DLPF_BW_256
* @see MPU6500_RA_CONFIG
* @see MPU6500_CFG_DLPF_CFG_BIT
* @see MPU6500_CFG_DLPF_CFG_LENGTH
*/
void mpu6500SetDLPFMode(uint8_t mode)
{
i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_CONFIG, MPU6500_CFG_DLPF_CFG_BIT,
MPU6500_CFG_DLPF_CFG_LENGTH, mode);
}
// GYRO_CONFIG register
/** Get full-scale gyroscope range id.
* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
* as described in the table below.
*
* <pre>
* 0 = +/- 250 degrees/sec
* 1 = +/- 500 degrees/sec
* 2 = +/- 1000 degrees/sec
* 3 = +/- 2000 degrees/sec
* </pre>
*
* @return Current full-scale gyroscope range setting
* @see MPU6500_GYRO_FS_250
* @see MPU6500_RA_GYRO_CONFIG
* @see MPU6500_GCONFIG_FS_SEL_BIT
* @see MPU6500_GCONFIG_FS_SEL_LENGTH
*/
uint8_t mpu6500GetFullScaleGyroRangeId()
{
i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_FS_SEL_BIT,
MPU6500_GCONFIG_FS_SEL_LENGTH, buffer);
return buffer[0];
}
/** Get full-scale gyroscope degrees per LSB.
*
* @return float of current full-scale gyroscope setting as degrees per LSB
* @see MPU6500_GYRO_FS_250
* @see MPU6500_RA_GYRO_CONFIG
* @see MPU6500_GCONFIG_FS_SEL_BIT
* @see MPU6500_GCONFIG_FS_SEL_LENGTH
*/
float mpu6500GetFullScaleGyroDPL()
{
int32_t rangeId;
float range;
rangeId = mpu6500GetFullScaleGyroRangeId();
switch (rangeId)
{
case MPU6500_GYRO_FS_250:
range = MPU6500_DEG_PER_LSB_250;
break;
case MPU6500_GYRO_FS_500:
range = MPU6500_DEG_PER_LSB_500;
break;
case MPU6500_GYRO_FS_1000:
range = MPU6500_DEG_PER_LSB_1000;
break;
case MPU6500_GYRO_FS_2000:
range = MPU6500_DEG_PER_LSB_2000;
break;
default:
range = MPU6500_DEG_PER_LSB_1000;
break;
}
return range;
}
/** Set full-scale gyroscope range.
* @param range New full-scale gyroscope range value
* @see getFullScaleRange()
* @see MPU6500_GYRO_FS_250
* @see MPU6500_RA_GYRO_CONFIG
* @see MPU6500_GCONFIG_FS_SEL_BIT
* @see MPU6500_GCONFIG_FS_SEL_LENGTH
*/
void mpu6500SetFullScaleGyroRange(uint8_t range)
{
i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_FS_SEL_BIT,
MPU6500_GCONFIG_FS_SEL_LENGTH, range);
}
void mpu6500SetGyroXSelfTest(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_XG_ST_BIT, enabled);
}
void mpu6500SetGyroYSelfTest(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_YG_ST_BIT, enabled);
}
void mpu6500SetGyroZSelfTest(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_ZG_ST_BIT, enabled);
}
// ACCEL_CONFIG register
/** Get self-test enabled setting for accelerometer X axis.
* @return Self-test enabled value
* @see MPU6500_RA_ACCEL_CONFIG
*/
bool mpu6500GetAccelXSelfTest()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_XA_ST_BIT, buffer);
return buffer[0];
}
/** Get self-test enabled setting for accelerometer X axis.
* @param enabled Self-test enabled value
* @see MPU6500_RA_ACCEL_CONFIG
*/
void mpu6500SetAccelXSelfTest(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_XA_ST_BIT, enabled);
}
/** Get self-test enabled value for accelerometer Y axis.
* @return Self-test enabled value
* @see MPU6500_RA_ACCEL_CONFIG
*/
bool mpu6500GetAccelYSelfTest()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_YA_ST_BIT, buffer);
return buffer[0];
}
/** Get self-test enabled value for accelerometer Y axis.
* @param enabled Self-test enabled value
* @see MPU6500_RA_ACCEL_CONFIG
*/
void mpu6500SetAccelYSelfTest(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_YA_ST_BIT, enabled);
}
/** Get self-test enabled value for accelerometer Z axis.
* @return Self-test enabled value
* @see MPU6500_RA_ACCEL_CONFIG
*/
bool mpu6500GetAccelZSelfTest()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_ZA_ST_BIT, buffer);
return buffer[0];
}
/** Set self-test enabled value for accelerometer Z axis.
* @param enabled Self-test enabled value
* @see MPU6500_RA_ACCEL_CONFIG
*/
void mpu6500SetAccelZSelfTest(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_ZA_ST_BIT, enabled);
}
/** Get full-scale accelerometer range.
* The FS_SEL parameter allows setting the full-scale range of the accelerometer
* sensors, as described in the table below.
*
* <pre>
* 0 = +/- 2g
* 1 = +/- 4g
* 2 = +/- 8g
* 3 = +/- 16g
* </pre>
*
* @return Current full-scale accelerometer range setting
* @see MPU6500_ACCEL_FS_2
* @see MPU6500_RA_ACCEL_CONFIG
* @see MPU6500_ACONFIG_AFS_SEL_BIT
* @see MPU6500_ACONFIG_AFS_SEL_LENGTH
*/
uint8_t mpu6500GetFullScaleAccelRangeId()
{
i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_AFS_SEL_BIT,
MPU6500_ACONFIG_AFS_SEL_LENGTH, buffer);
return buffer[0];
}
/** Get full-scale accelerometer G per LSB.
*
* @return float of current full-scale accelerometer setting as G per LSB
* @see MPU6500_ACCEL_FS_2
* @see MPU6500_RA_ACCEL_CONFIG
* @see MPU6500_ACONFIG_AFS_SEL_BIT
* @see MPU6500_ACONFIG_AFS_SEL_LENGTH
*/
float mpu6500GetFullScaleAccelGPL()
{
int32_t rangeId;
float range;
rangeId = mpu6500GetFullScaleAccelRangeId();
switch (rangeId)
{
case MPU6500_ACCEL_FS_2:
range = MPU6500_G_PER_LSB_2;
break;
case MPU6500_ACCEL_FS_4:
range = MPU6500_G_PER_LSB_4;
break;
case MPU6500_ACCEL_FS_8:
range = MPU6500_G_PER_LSB_8;
break;
case MPU6500_ACCEL_FS_16:
range = MPU6500_G_PER_LSB_16;
break;
default:
range = MPU6500_DEG_PER_LSB_1000;
break;
}
return range;
}
/** Set full-scale accelerometer range.
* @param range New full-scale accelerometer range setting
* @see getFullScaleAccelRange()
*/
void mpu6500SetFullScaleAccelRange(uint8_t range)
{
i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_AFS_SEL_BIT,
MPU6500_ACONFIG_AFS_SEL_LENGTH, range);
}
/** Set accelerometer digital low pass filter.
* @param range DLPF setting
* @see MPU6500_ACCEL_DLPF_BW_460
* @see MPU6500_ACCEL_DLPF_BW_184
* @see MPU6500_ACCEL_DLPF_BW_92
* @see MPU6500_ACCEL_DLPF_BW_41
* @see MPU6500_ACCEL_DLPF_BW_20
* @see MPU6500_ACCEL_DLPF_BW_10
* @see MPU6500_ACCEL_DLPF_BW_5
*/
void mpu6500SetAccelDLPF(uint8_t range)
{
i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG_2, MPU6500_ACONFIG2_DLPF_BIT,
MPU6500_ACONFIG2_DLPF_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-6500 Product Specification document).
*
* The high pass filter has three modes:
*
* <pre>
* Reset: The filter output settles to zero within one sample. This
* effectively disables the high pass filter. This mode may be toggled
* to quickly settle the filter.
*
* On: The high pass filter will pass signals above the cut off frequency.
*
* Hold: When triggered, the filter holds the present sample. The filter
* output will be the difference between the input sample and the held
* sample.
* </pre>
*
* <pre>
* ACCEL_HPF | Filter Mode | Cut-off Frequency
* ----------+-------------+------------------
* 0 | Reset | None
* 1 | On | 5Hz
* 2 | On | 2.5Hz
* 3 | On | 1.25Hz
* 4 | On | 0.63Hz
* 7 | Hold | None
* </pre>
*
* @return Current high-pass filter configuration
* @see MPU6500_DHPF_RESET
* @see MPU6500_RA_ACCEL_CONFIG
*/
uint8_t mpu6500GetDHPFMode()
{
i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_ACCEL_HPF_BIT,
MPU6500_ACONFIG_ACCEL_HPF_LENGTH, buffer);
return buffer[0];
}
/** Set the high-pass filter configuration.
* @param bandwidth New high-pass filter configuration
* @see setDHPFMode()
* @see MPU6500_DHPF_RESET
* @see MPU6500_RA_ACCEL_CONFIG
*/
void mpu6500SetDHPFMode(uint8_t bandwidth)
{
i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_ACCEL_HPF_BIT,
MPU6500_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
}
// 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 MPU6500_RA_FIFO_EN
*/
bool mpu6500GetTempFIFOEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_TEMP_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set temperature FIFO enabled value.
* @param enabled New temperature FIFO enabled value
* @see getTempFIFOEnabled()
* @see MPU6500_RA_FIFO_EN
*/
void mpu6500SetTempFIFOEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_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 MPU6500_RA_FIFO_EN
*/
bool mpu6500GetXGyroFIFOEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_XG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope X-axis FIFO enabled value.
* @param enabled New gyroscope X-axis FIFO enabled value
* @see getXGyroFIFOEnabled()
* @see MPU6500_RA_FIFO_EN
*/
void mpu6500SetXGyroFIFOEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_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 MPU6500_RA_FIFO_EN
*/
bool mpu6500GetYGyroFIFOEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_YG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope Y-axis FIFO enabled value.
* @param enabled New gyroscope Y-axis FIFO enabled value
* @see getYGyroFIFOEnabled()
* @see MPU6500_RA_FIFO_EN
*/
void mpu6500SetYGyroFIFOEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_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 MPU6500_RA_FIFO_EN
*/
bool mpu6500GetZGyroFIFOEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_ZG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope Z-axis FIFO enabled value.
* @param enabled New gyroscope Z-axis FIFO enabled value
* @see getZGyroFIFOEnabled()
* @see MPU6500_RA_FIFO_EN
*/
void mpu6500SetZGyroFIFOEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_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 MPU6500_RA_FIFO_EN
*/
bool mpu6500GetAccelFIFOEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_ACCEL_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set accelerometer FIFO enabled value.
* @param enabled New accelerometer FIFO enabled value
* @see getAccelFIFOEnabled()
* @see MPU6500_RA_FIFO_EN
*/
void mpu6500SetAccelFIFOEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_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 MPU6500_RA_FIFO_EN
*/
bool mpu6500GetSlave2FIFOEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV2_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 2 FIFO enabled value.
* @param enabled New Slave 2 FIFO enabled value
* @see getSlave2FIFOEnabled()
* @see MPU6500_RA_FIFO_EN
*/
void mpu6500SetSlave2FIFOEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_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 MPU6500_RA_FIFO_EN
*/
bool mpu6500GetSlave1FIFOEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV1_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 1 FIFO enabled value.
* @param enabled New Slave 1 FIFO enabled value
* @see getSlave1FIFOEnabled()
* @see MPU6500_RA_FIFO_EN
*/
void mpu6500SetSlave1FIFOEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_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 MPU6500_RA_FIFO_EN
*/
bool mpu6500GetSlave0FIFOEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV0_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 0 FIFO enabled value.
* @param enabled New Slave 0 FIFO enabled value
* @see getSlave0FIFOEnabled()
* @see MPU6500_RA_FIFO_EN
*/
void mpu6500SetSlave0FIFOEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_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 MPU6500_RA_I2C_MST_CTRL
*/
bool mpu6500GetMultiMasterEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_MULT_MST_EN_BIT, buffer);
return buffer[0];
}
/** Set multi-master enabled value.
* @param enabled New multi-master enabled value
* @see getMultiMasterEnabled()
* @see MPU6500_RA_I2C_MST_CTRL
*/
void mpu6500SetMultiMasterEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_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 MPU6500_RA_I2C_MST_CTRL
*/
bool mpu6500GetWaitForExternalSensorEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_WAIT_FOR_ES_BIT, buffer);
return buffer[0];
}
/** Set wait-for-external-sensor-data enabled value.
* @param enabled New wait-for-external-sensor-data enabled value
* @see getWaitForExternalSensorEnabled()
* @see MPU6500_RA_I2C_MST_CTRL
*/
void mpu6500SetWaitForExternalSensorEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_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 MPU6500_RA_MST_CTRL
*/
bool mpu6500GetSlave3FIFOEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_SLV_3_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 3 FIFO enabled value.
* @param enabled New Slave 3 FIFO enabled value
* @see getSlave3FIFOEnabled()
* @see MPU6500_RA_MST_CTRL
*/
void mpu6500SetSlave3FIFOEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_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 MPU6500_RA_I2C_MST_CTRL
*/
bool mpu6500GetSlaveReadWriteTransitionEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_I2C_MST_P_NSR_BIT, buffer);
return buffer[0];
}
/** Set slave read/write transition enabled value.
* @param enabled New slave read/write transition enabled value
* @see getSlaveReadWriteTransitionEnabled()
* @see MPU6500_RA_I2C_MST_CTRL
*/
void mpu6500SetSlaveReadWriteTransitionEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_I2C_MST_P_NSR_BIT, enabled);
}
/** Get I2C master clock speed.
* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
* the following table:
*
* <pre>
* I2C_MST_CLK | I2C Master Clock Speed | 8MHz Clock Divider
* ------------+------------------------+-------------------
* 0 | 348kHz | 23
* 1 | 333kHz | 24
* 2 | 320kHz | 25
* 3 | 308kHz | 26
* 4 | 296kHz | 27
* 5 | 286kHz | 28
* 6 | 276kHz | 29
* 7 | 267kHz | 30
* 8 | 258kHz | 31
* 9 | 500kHz | 16
* 10 | 471kHz | 17
* 11 | 444kHz | 18
* 12 | 421kHz | 19
* 13 | 400kHz | 20
* 14 | 381kHz | 21
* 15 | 364kHz | 22
* </pre>
*
* @return Current I2C master clock speed
* @see MPU6500_RA_I2C_MST_CTRL
*/
uint8_t mpu6500GetMasterClockSpeed()
{
i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_I2C_MST_CLK_BIT,
MPU6500_I2C_MST_CLK_LENGTH, buffer);
return buffer[0];
}
/** Set I2C master clock speed.
* @reparam speed Current I2C master clock speed
* @see MPU6500_RA_I2C_MST_CTRL
*/
void mpu6500SetMasterClockSpeed(uint8_t speed)
{
i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_I2C_MST_CLK_BIT,
MPU6500_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-6500 supports a total of five slaves, but Slave 4 has unique
* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
*
* I2C data transactions are performed at the Sample Rate, as defined in
* Register 25. The user is responsible for ensuring that I2C data transactions
* to and from each enabled Slave can be completed within a single period of the
* Sample Rate.
*
* The I2C slave access rate can be reduced relative to the Sample Rate. This
* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
* slave's access rate is reduced relative to the Sample Rate is determined by
* I2C_MST_DELAY_CTRL (Register 103).
*
* The processing order for the slaves is fixed. The sequence followed for
* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
* particular Slave is disabled it will be skipped.
*
* Each slave can either be accessed at the sample rate or at a reduced sample
* rate. In a case where some slaves are accessed at the Sample Rate and some
* slaves are accessed at the reduced rate, the sequence of accessing the slaves
* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
* be skipped if their access rate dictates that they should not be accessed
* during that particular cycle. For further information regarding the reduced
* access rate, please refer to Register 52. Whether a slave is accessed at the
* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
* Register 103.
*
* @param num Slave number (0-3)
* @return Current address for specified slave
* @see MPU6500_RA_I2C_SLV0_ADDR
*/
uint8_t mpu6500GetSlaveAddress(uint8_t num)
{
if (num > 3)
return 0;
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_ADDR + num * 3, buffer);
return buffer[0];
}
/** Set the I2C address of the specified slave (0-3).
* @param num Slave number (0-3)
* @param address New address for specified slave
* @see getSlaveAddress()
* @see MPU6500_RA_I2C_SLV0_ADDR
*/
void mpu6500SetSlaveAddress(uint8_t num, uint8_t address)
{
if (num > 3)
return;
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_ADDR + num * 3, address);
}
/** Get the active internal register for the specified slave (0-3).
* Read/write operations for this slave will be done to whatever internal
* register address is stored in this MPU register.
*
* The MPU-6500 supports a total of five slaves, but Slave 4 has unique
* characteristics, and so it has its own functions.
*
* @param num Slave number (0-3)
* @return Current active register for specified slave
* @see MPU6500_RA_I2C_SLV0_REG
*/
uint8_t mpu6500GetSlaveRegister(uint8_t num)
{
if (num > 3)
return 0;
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_REG + num * 3, buffer);
return buffer[0];
}
/** Set the active internal register for the specified slave (0-3).
* @param num Slave number (0-3)
* @param reg New active register for specified slave
* @see getSlaveRegister()
* @see MPU6500_RA_I2C_SLV0_REG
*/
void mpu6500SetSlaveRegister(uint8_t num, uint8_t reg)
{
if (num > 3)
return;
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_REG + num * 3, reg);
}
/** Get the enabled value for the specified slave (0-3).
* When set to 1, this bit enables Slave 0 for data transfer operations. When
* cleared to 0, this bit disables Slave 0 from data transfer operations.
* @param num Slave number (0-3)
* @return Current enabled value for specified slave
* @see MPU6500_RA_I2C_SLV0_CTRL
*/
bool mpu6500GetSlaveEnabled(uint8_t num)
{
if (num > 3)
return 0;
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_EN_BIT, buffer);
return buffer[0];
}
/** Set the enabled value for the specified slave (0-3).
* @param num Slave number (0-3)
* @param enabled New enabled value for specified slave
* @see getSlaveEnabled()
* @see MPU6500_RA_I2C_SLV0_CTRL
*/
void mpu6500SetSlaveEnabled(uint8_t num, bool enabled)
{
if (num > 3)
return;
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_EN_BIT,
enabled);
}
/** Get word pair byte-swapping enabled for the specified slave (0-3).
* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
* the high and low bytes of a word pair are swapped. Please refer to
* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
* registers in the order they were transferred.
*
* @param num Slave number (0-3)
* @return Current word pair byte-swapping enabled value for specified slave
* @see MPU6500_RA_I2C_SLV0_CTRL
*/
bool mpu6500GetSlaveWordByteSwap(uint8_t num)
{
if (num > 3)
return 0;
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_BYTE_SW_BIT,
buffer);
return buffer[0];
}
/** Set word pair byte-swapping enabled for the specified slave (0-3).
* @param num Slave number (0-3)
* @param enabled New word pair byte-swapping enabled value for specified slave
* @see getSlaveWordByteSwap()
* @see MPU6500_RA_I2C_SLV0_CTRL
*/
void mpu6500SetSlaveWordByteSwap(uint8_t num, bool enabled)
{
if (num > 3)
return;
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_BYTE_SW_BIT,
enabled);
}
/** Get write mode for the specified slave (0-3).
* When set to 1, the transaction will read or write data only. When cleared to
* 0, the transaction will write a register address prior to reading or writing
* data. This should equal 0 when specifying the register address within the
* Slave device to/from which the ensuing data transaction will take place.
*
* @param num Slave number (0-3)
* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
* @see MPU6500_RA_I2C_SLV0_CTRL
*/
bool mpu6500GetSlaveWriteMode(uint8_t num)
{
if (num > 3)
return 0;
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_REG_DIS_BIT,
buffer);
return buffer[0];
}
/** Set write mode for the specified slave (0-3).
* @param num Slave number (0-3)
* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
* @see getSlaveWriteMode()
* @see MPU6500_RA_I2C_SLV0_CTRL
*/
void mpu6500SetSlaveWriteMode(uint8_t num, bool mode)
{
if (num > 3)
return;
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_REG_DIS_BIT,
mode);
}
/** Get word pair grouping order offset for the specified slave (0-3).
* This sets specifies the grouping order of word pairs received from registers.
* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
* then odd register addresses) are paired to form a word. When set to 1, bytes
* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
* register addresses) are paired to form a word.
*
* @param num Slave number (0-3)
* @return Current word pair grouping order offset for specified slave
* @see MPU6500_RA_I2C_SLV0_CTRL
*/
bool mpu6500GetSlaveWordGroupOffset(uint8_t num)
{
if (num > 3)
return 0;
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_GRP_BIT, buffer);
return buffer[0];
}
/** Set word pair grouping order offset for the specified slave (0-3).
* @param num Slave number (0-3)
* @param enabled New word pair grouping order offset for specified slave
* @see getSlaveWordGroupOffset()
* @see MPU6500_RA_I2C_SLV0_CTRL
*/
void mpu6500SetSlaveWordGroupOffset(uint8_t num, bool enabled)
{
if (num > 3)
return;
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_GRP_BIT,
enabled);
}
/** Get number of bytes to read for the specified slave (0-3).
* Specifies the number of bytes transferred to and from Slave 0. Clearing this
* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
* @param num Slave number (0-3)
* @return Number of bytes to read for specified slave
* @see MPU6500_RA_I2C_SLV0_CTRL
*/
uint8_t mpu6500GetSlaveDataLength(uint8_t num)
{
if (num > 3)
return 0;
i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_LEN_BIT,
MPU6500_I2C_SLV_LEN_LENGTH, buffer);
return buffer[0];
}
/** Set number of bytes to read for the specified slave (0-3).
* @param num Slave number (0-3)
* @param length Number of bytes to read for specified slave
* @see getSlaveDataLength()
* @see MPU6500_RA_I2C_SLV0_CTRL
*/
void mpu6500SetSlaveDataLength(uint8_t num, uint8_t length)
{
if (num > 3)
return;
i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_LEN_BIT,
MPU6500_I2C_SLV_LEN_LENGTH, length);
}
// I2C_SLV* registers (Slave 4)
/** Get the I2C address of Slave 4.
* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
* operation, and if it is cleared, then it's a write operation. The remaining
* bits (6-0) are the 7-bit device address of the slave device.
*
* @return Current address for Slave 4
* @see getSlaveAddress()
* @see MPU6500_RA_I2C_SLV4_ADDR
*/
uint8_t mpu6500GetSlave4Address()
{
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_ADDR, buffer);
return buffer[0];
}
/** Set the I2C address of Slave 4.
* @param address New address for Slave 4
* @see getSlave4Address()
* @see MPU6500_RA_I2C_SLV4_ADDR
*/
void mpu6500SetSlave4Address(uint8_t address)
{
i2cdevWriteByte(I2Cx, devAddr, MPU6500_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 MPU6500_RA_I2C_SLV4_REG
*/
uint8_t mpu6500GetSlave4Register()
{
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_REG, buffer);
return buffer[0];
}
/** Set the active internal register for Slave 4.
* @param reg New active register for Slave 4
* @see getSlave4Register()
* @see MPU6500_RA_I2C_SLV4_REG
*/
void mpu6500SetSlave4Register(uint8_t reg)
{
i2cdevWriteByte(I2Cx, devAddr, MPU6500_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 MPU6500_RA_I2C_SLV4_DO
*/
void mpu6500SetSlave4OutputByte(uint8_t data)
{
i2cdevWriteByte(I2Cx, devAddr, MPU6500_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 MPU6500_RA_I2C_SLV4_CTRL
*/
bool mpu6500GetSlave4Enabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_EN_BIT, buffer);
return buffer[0];
}
/** Set the enabled value for Slave 4.
* @param enabled New enabled value for Slave 4
* @see getSlave4Enabled()
* @see MPU6500_RA_I2C_SLV4_CTRL
*/
void mpu6500SetSlave4Enabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_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 MPU6500_RA_I2C_SLV4_CTRL
*/
bool mpu6500GetSlave4InterruptEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_INT_EN_BIT, buffer);
return buffer[0];
}
/** Set the enabled value for Slave 4 transaction interrupts.
* @param enabled New enabled value for Slave 4 transaction interrupts.
* @see getSlave4InterruptEnabled()
* @see MPU6500_RA_I2C_SLV4_CTRL
*/
void mpu6500SetSlave4InterruptEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_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 MPU6500_RA_I2C_SLV4_CTRL
*/
bool mpu6500GetSlave4WriteMode()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_REG_DIS_BIT, buffer);
return buffer[0];
}
/** Set write mode for the Slave 4.
* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
* @see getSlave4WriteMode()
* @see MPU6500_RA_I2C_SLV4_CTRL
*/
void mpu6500SetSlave4WriteMode(bool mode)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_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 MPU6500_RA_I2C_SLV4_CTRL
*/
uint8_t mpu6500GetSlave4MasterDelay()
{
i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_MST_DLY_BIT,
MPU6500_I2C_SLV4_MST_DLY_LENGTH, buffer);
return buffer[0];
}
/** Set Slave 4 master delay value.
* @param delay New Slave 4 master delay value
* @see getSlave4MasterDelay()
* @see MPU6500_RA_I2C_SLV4_CTRL
*/
void mpu6500SetSlave4MasterDelay(uint8_t delay)
{
i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_MST_DLY_BIT,
MPU6500_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 MPU6500_RA_I2C_SLV4_DI
*/
uint8_t mpu6500GetSlate4InputByte()
{
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_DI, buffer);
return buffer[0];
}
// I2C_MST_STATUS register
/** Get FSYNC interrupt status.
* This bit reflects the status of the FSYNC interrupt from an external device
* into the MPU-60X0. This is used as a way to pass an external interrupt
* through the MPU-60X0 to the host application processor. When set to 1, this
* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
* (Register 55).
* @return FSYNC interrupt status
* @see MPU6500_RA_I2C_MST_STATUS
*/
bool mpu6500GetPassthroughStatus()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_PASS_THROUGH_BIT, buffer);
return buffer[0];
}
/** Get Slave 4 transaction done status.
* Automatically sets to 1 when a Slave 4 transaction has completed. This
* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
* I2C_SLV4_CTRL register (Register 52).
* @return Slave 4 transaction done status
* @see MPU6500_RA_I2C_MST_STATUS
*/
bool mpu6500GetSlave4IsDone()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV4_DONE_BIT, buffer);
return buffer[0];
}
/** Get master arbitration lost status.
* This bit automatically sets to 1 when the I2C Master has lost arbitration of
* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
* @return Master arbitration lost status
* @see MPU6500_RA_I2C_MST_STATUS
*/
bool mpu6500GetLostArbitration()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_LOST_ARB_BIT, buffer);
return buffer[0];
}
/** Get Slave 4 NACK status.
* This bit automatically sets to 1 when the I2C Master receives a NACK in a
* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
* bit in the INT_ENABLE register (Register 56) is asserted.
* @return Slave 4 NACK interrupt status
* @see MPU6500_RA_I2C_MST_STATUS
*/
bool mpu6500GetSlave4Nack()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV4_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 3 NACK status.
* This bit automatically sets to 1 when the I2C Master receives a NACK in a
* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
* bit in the INT_ENABLE register (Register 56) is asserted.
* @return Slave 3 NACK interrupt status
* @see MPU6500_RA_I2C_MST_STATUS
*/
bool mpu6500GetSlave3Nack()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV3_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 2 NACK status.
* This bit automatically sets to 1 when the I2C Master receives a NACK in a
* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
* bit in the INT_ENABLE register (Register 56) is asserted.
* @return Slave 2 NACK interrupt status
* @see MPU6500_RA_I2C_MST_STATUS
*/
bool mpu6500GetSlave2Nack()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV2_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 1 NACK status.
* This bit automatically sets to 1 when the I2C Master receives a NACK in a
* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
* bit in the INT_ENABLE register (Register 56) is asserted.
* @return Slave 1 NACK interrupt status
* @see MPU6500_RA_I2C_MST_STATUS
*/
bool mpu6500GetSlave1Nack()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV1_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 0 NACK status.
* This bit automatically sets to 1 when the I2C Master receives a NACK in a
* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
* bit in the INT_ENABLE register (Register 56) is asserted.
* @return Slave 0 NACK interrupt status
* @see MPU6500_RA_I2C_MST_STATUS
*/
bool mpu6500GetSlave0Nack()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV0_NACK_BIT, buffer);
return buffer[0];
}
// INT_PIN_CFG register
/** Get interrupt logic level mode.
* Will be set 0 for active-high, 1 for active-low.
* @return Current interrupt mode (0=active-high, 1=active-low)
* @see MPU6500_RA_INT_PIN_CFG
* @see MPU6500_INTCFG_INT_LEVEL_BIT
*/
bool mpu6500GetInterruptMode()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_LEVEL_BIT, buffer);
return buffer[0];
}
/** Set interrupt logic level mode.
* @param mode New interrupt mode (0=active-high, 1=active-low)
* @see getInterruptMode()
* @see MPU6500_RA_INT_PIN_CFG
* @see MPU6500_INTCFG_INT_LEVEL_BIT
*/
void mpu6500SetInterruptMode(bool mode)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_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 MPU6500_RA_INT_PIN_CFG
* @see MPU6500_INTCFG_INT_OPEN_BIT
*/
bool mpu6500GetInterruptDrive()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_OPEN_BIT, buffer);
return buffer[0];
}
/** Set interrupt drive mode.
* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
* @see getInterruptDrive()
* @see MPU6500_RA_INT_PIN_CFG
* @see MPU6500_INTCFG_INT_OPEN_BIT
*/
void mpu6500SetInterruptDrive(bool drive)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_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 MPU6500_RA_INT_PIN_CFG
* @see MPU6500_INTCFG_LATCH_INT_EN_BIT
*/
bool mpu6500GetInterruptLatch()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_LATCH_INT_EN_BIT, buffer);
return buffer[0];
}
/** Set interrupt latch mode.
* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
* @see getInterruptLatch()
* @see MPU6500_RA_INT_PIN_CFG
* @see MPU6500_INTCFG_LATCH_INT_EN_BIT
*/
void mpu6500SetInterruptLatch(bool latch)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_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 MPU6500_RA_INT_PIN_CFG
* @see MPU6500_INTCFG_INT_RD_CLEAR_BIT
*/
bool mpu6500GetInterruptLatchClear()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_RD_CLEAR_BIT, buffer);
return buffer[0];
}
/** Set interrupt latch clear mode.
* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
* @see getInterruptLatchClear()
* @see MPU6500_RA_INT_PIN_CFG
* @see MPU6500_INTCFG_INT_RD_CLEAR_BIT
*/
void mpu6500SetInterruptLatchClear(bool clear)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_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 MPU6500_RA_INT_PIN_CFG
* @see MPU6500_INTCFG_FSYNC_INT_LEVEL_BIT
*/
bool mpu6500GetFSyncInterruptLevel()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
return buffer[0];
}
/** Set FSYNC interrupt logic level mode.
* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
* @see getFSyncInterruptMode()
* @see MPU6500_RA_INT_PIN_CFG
* @see MPU6500_INTCFG_FSYNC_INT_LEVEL_BIT
*/
void mpu6500SetFSyncInterruptLevel(bool level)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_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 MPU6500_RA_INT_PIN_CFG
* @see MPU6500_INTCFG_FSYNC_INT_EN_BIT
*/
bool mpu6500GetFSyncInterruptEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_FSYNC_INT_EN_BIT, buffer);
return buffer[0];
}
/** Set FSYNC pin interrupt enabled setting.
* @param enabled New FSYNC pin interrupt enabled setting
* @see getFSyncInterruptEnabled()
* @see MPU6500_RA_INT_PIN_CFG
* @see MPU6500_INTCFG_FSYNC_INT_EN_BIT
*/
void mpu6500SetFSyncInterruptEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_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 MPU6500_RA_INT_PIN_CFG
* @see MPU6500_INTCFG_I2C_BYPASS_EN_BIT
*/
bool mpu6500GetI2CBypassEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_I2C_BYPASS_EN_BIT, buffer);
return buffer[0];
}
/** Set I2C bypass enabled status.
* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
* 0, the host application processor will be able to directly access the
* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
* application processor will not be able to directly access the auxiliary I2C
* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
* bit[5]).
* @param enabled New I2C bypass enabled status
* @see MPU6500_RA_INT_PIN_CFG
* @see MPU6500_INTCFG_I2C_BYPASS_EN_BIT
*/
void mpu6500SetI2CBypassEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_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 MPU6500_RA_INT_PIN_CFG
* @see MPU6500_INTCFG_CLKOUT_EN_BIT
*/
bool mpu6500GetClockOutputEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_CLKOUT_EN_BIT, buffer);
return buffer[0];
}
/** Set reference clock output enabled status.
* When this bit is equal to 1, a reference clock output is provided at the
* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
* further information regarding CLKOUT, please refer to the MPU-60X0 Product
* Specification document.
* @param enabled New reference clock output enabled status
* @see MPU6500_RA_INT_PIN_CFG
* @see MPU6500_INTCFG_CLKOUT_EN_BIT
*/
void mpu6500SetClockOutputEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_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 MPU6500_RA_INT_ENABLE
* @see MPU6500_INTERRUPT_FF_BIT
**/
uint8_t mpu6500GetIntEnabled()
{
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, buffer);
return buffer[0];
}
/** Set full interrupt enabled status.
* Full register byte for all interrupts, for quick reading. Each bit should be
* set 0 for disabled, 1 for enabled.
* @param enabled New interrupt enabled status
* @see getIntFreefallEnabled()
* @see MPU6500_RA_INT_ENABLE
* @see MPU6500_INTERRUPT_FF_BIT
**/
void mpu6500SetIntEnabled(uint8_t enabled)
{
i2cdevWriteByte(I2Cx, devAddr, MPU6500_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 MPU6500_RA_INT_ENABLE
* @see MPU6500_INTERRUPT_FF_BIT
**/
bool mpu6500GetIntFreefallEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_FF_BIT, buffer);
return buffer[0];
}
/** Set Free Fall interrupt enabled status.
* @param enabled New interrupt enabled status
* @see getIntFreefallEnabled()
* @see MPU6500_RA_INT_ENABLE
* @see MPU6500_INTERRUPT_FF_BIT
**/
void mpu6500SetIntFreefallEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_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 MPU6500_RA_INT_ENABLE
* @see MPU6500_INTERRUPT_MOT_BIT
**/
bool mpu6500GetIntMotionEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_MOT_BIT, buffer);
return buffer[0];
}
/** Set Motion Detection interrupt enabled status.
* @param enabled New interrupt enabled status
* @see getIntMotionEnabled()
* @see MPU6500_RA_INT_ENABLE
* @see MPU6500_INTERRUPT_MOT_BIT
**/
void mpu6500SetIntMotionEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_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 MPU6500_RA_INT_ENABLE
* @see MPU6500_INTERRUPT_ZMOT_BIT
**/
bool mpu6500GetIntZeroMotionEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_ZMOT_BIT, buffer);
return buffer[0];
}
/** Set Zero Motion Detection interrupt enabled status.
* @param enabled New interrupt enabled status
* @see getIntZeroMotionEnabled()
* @see MPU6500_RA_INT_ENABLE
* @see MPU6500_INTERRUPT_ZMOT_BIT
**/
void mpu6500SetIntZeroMotionEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_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 MPU6500_RA_INT_ENABLE
* @see MPU6500_INTERRUPT_FIFO_OFLOW_BIT
**/
bool mpu6500GetIntFIFOBufferOverflowEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_FIFO_OFLOW_BIT, buffer);
return buffer[0];
}
/** Set FIFO Buffer Overflow interrupt enabled status.
* @param enabled New interrupt enabled status
* @see getIntFIFOBufferOverflowEnabled()
* @see MPU6500_RA_INT_ENABLE
* @see MPU6500_INTERRUPT_FIFO_OFLOW_BIT
**/
void mpu6500SetIntFIFOBufferOverflowEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_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 MPU6500_RA_INT_ENABLE
* @see MPU6500_INTERRUPT_I2C_MST_INT_BIT
**/
bool mpu6500GetIntI2CMasterEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_I2C_MST_INT_BIT, buffer);
return buffer[0];
}
/** Set I2C Master interrupt enabled status.
* @param enabled New interrupt enabled status
* @see getIntI2CMasterEnabled()
* @see MPU6500_RA_INT_ENABLE
* @see MPU6500_INTERRUPT_I2C_MST_INT_BIT
**/
void mpu6500SetIntI2CMasterEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_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 MPU6500_RA_INT_ENABLE
* @see MPU6500_INTERRUPT_DATA_RDY_BIT
*/
bool mpu6500GetIntDataReadyEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_DATA_RDY_BIT, buffer);
return buffer[0];
}
/** Set Data Ready interrupt enabled status.
* @param enabled New interrupt enabled status
* @see getIntDataReadyEnabled()
* @see MPU6500_RA_INT_CFG
* @see MPU6500_INTERRUPT_DATA_RDY_BIT
*/
void mpu6500SetIntDataReadyEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_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 MPU6500_RA_INT_STATUS
*/
uint8_t mpu6500GetIntStatus()
{
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_INT_STATUS, buffer);
return buffer[0];
}
/** Get Free Fall interrupt status.
* This bit automatically sets to 1 when a Free Fall interrupt has been
* generated. The bit clears to 0 after the register has been read.
* @return Current interrupt status
* @see MPU6500_RA_INT_STATUS
* @see MPU6500_INTERRUPT_FF_BIT
*/
bool mpu6500GetIntFreefallStatus()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_FF_BIT, buffer);
return buffer[0];
}
/** Get Motion Detection interrupt status.
* This bit automatically sets to 1 when a Motion Detection interrupt has been
* generated. The bit clears to 0 after the register has been read.
* @return Current interrupt status
* @see MPU6500_RA_INT_STATUS
* @see MPU6500_INTERRUPT_MOT_BIT
*/
bool mpu6500GetIntMotionStatus()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_MOT_BIT, buffer);
return buffer[0];
}
/** Get Zero Motion Detection interrupt status.
* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
* been generated. The bit clears to 0 after the register has been read.
* @return Current interrupt status
* @see MPU6500_RA_INT_STATUS
* @see MPU6500_INTERRUPT_ZMOT_BIT
*/
bool mpu6500GetIntZeroMotionStatus()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_ZMOT_BIT, buffer);
return buffer[0];
}
/** Get FIFO Buffer Overflow interrupt status.
* This bit automatically sets to 1 when a Free Fall interrupt has been
* generated. The bit clears to 0 after the register has been read.
* @return Current interrupt status
* @see MPU6500_RA_INT_STATUS
* @see MPU6500_INTERRUPT_FIFO_OFLOW_BIT
*/
bool mpu6500GetIntFIFOBufferOverflowStatus()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_FIFO_OFLOW_BIT, buffer);
return buffer[0];
}
/** Get I2C Master interrupt status.
* This bit automatically sets to 1 when an I2C Master interrupt has been
* generated. For a list of I2C Master interrupts, please refer to Register 54.
* The bit clears to 0 after the register has been read.
* @return Current interrupt status
* @see MPU6500_RA_INT_STATUS
* @see MPU6500_INTERRUPT_I2C_MST_INT_BIT
*/
bool mpu6500GetIntI2CMasterStatus()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_I2C_MST_INT_BIT, buffer);
return buffer[0];
}
/** Get Data Ready interrupt status.
* This bit automatically sets to 1 when a Data Ready interrupt has been
* generated. The bit clears to 0 after the register has been read.
* @return Current interrupt status
* @see MPU6500_RA_INT_STATUS
* @see MPU6500_INTERRUPT_DATA_RDY_BIT
*/
bool mpu6500GetIntDataReadyStatus()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_DATA_RDY_BIT, buffer);
return buffer[0];
}
// ACCEL_*OUT_* registers
/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
* FUNCTION NOT FULLY IMPLEMENTED YET.
* @param ax 16-bit signed integer container for accelerometer X-axis value
* @param ay 16-bit signed integer container for accelerometer Y-axis value
* @param az 16-bit signed integer container for accelerometer Z-axis value
* @param gx 16-bit signed integer container for gyroscope X-axis value
* @param gy 16-bit signed integer container for gyroscope Y-axis value
* @param gz 16-bit signed integer container for gyroscope Z-axis value
* @param mx 16-bit signed integer container for magnetometer X-axis value
* @param my 16-bit signed integer container for magnetometer Y-axis value
* @param mz 16-bit signed integer container for magnetometer Z-axis value
* @see getMotion6()
* @see getAcceleration()
* @see getRotation()
* @see MPU6500_RA_ACCEL_XOUT_H
*/
void mpu6500GetMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz,
int16_t* mx, int16_t* my, int16_t* mz)
{
mpu6500GetMotion6(ax, ay, az, gx, gy, gz);
// TODO: magnetometer integration
}
/** Get raw 6-axis motion sensor readings (accel/gyro).
* Retrieves all currently available motion sensor values.
* @param ax 16-bit signed integer container for accelerometer X-axis value
* @param ay 16-bit signed integer container for accelerometer Y-axis value
* @param az 16-bit signed integer container for accelerometer Z-axis value
* @param gx 16-bit signed integer container for gyroscope X-axis value
* @param gy 16-bit signed integer container for gyroscope Y-axis value
* @param gz 16-bit signed integer container for gyroscope Z-axis value
* @see getAcceleration()
* @see getRotation()
* @see MPU6500_RA_ACCEL_XOUT_H
*/
void mpu6500GetMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
{
i2cdevRead(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 14, buffer);
*ax = (((int16_t) buffer[0]) << 8) | buffer[1];
*ay = (((int16_t) buffer[2]) << 8) | buffer[3];
*az = (((int16_t) buffer[4]) << 8) | buffer[5];
*gx = (((int16_t) buffer[8]) << 8) | buffer[9];
*gy = (((int16_t) buffer[10]) << 8) | buffer[11];
*gz = (((int16_t) buffer[12]) << 8) | buffer[13];
}
/** Get 3-axis accelerometer readings.
* These registers store the most recent accelerometer measurements.
* Accelerometer measurements are written to these registers at the Sample Rate
* as defined in Register 25.
*
* The accelerometer measurement registers, along with the temperature
* measurement registers, gyroscope measurement registers, and external sensor
* data registers, are composed of two sets of registers: an internal register
* set and a user-facing read register set.
*
* The data within the accelerometer sensors' internal register set is always
* updated at the Sample Rate. Meanwhile, the user-facing read register set
* duplicates the internal register set's data values whenever the serial
* interface is idle. This guarantees that a burst read of sensor registers will
* read measurements from the same sampling instant. Note that if burst reads
* are not used, the user is responsible for ensuring a set of single byte reads
* correspond to a single sampling instant by checking the Data Ready interrupt.
*
* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
* (Register 28). For each full scale setting, the accelerometers' sensitivity
* per LSB in ACCEL_xOUT is shown in the table below:
*
* <pre>
* AFS_SEL | Full Scale Range | LSB Sensitivity
* --------+------------------+----------------
* 0 | +/- 2g | 8192 LSB/mg
* 1 | +/- 4g | 4096 LSB/mg
* 2 | +/- 8g | 2048 LSB/mg
* 3 | +/- 16g | 1024 LSB/mg
* </pre>
*
* @param x 16-bit signed integer container for X-axis acceleration
* @param y 16-bit signed integer container for Y-axis acceleration
* @param z 16-bit signed integer container for Z-axis acceleration
* @see MPU6500_RA_GYRO_XOUT_H
*/
void mpu6500GetAcceleration(int16_t* x, int16_t* y, int16_t* z)
{
i2cdevRead(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 6, buffer);
*x = (((int16_t) buffer[0]) << 8) | buffer[1];
*y = (((int16_t) buffer[2]) << 8) | buffer[3];
*z = (((int16_t) buffer[4]) << 8) | buffer[5];
}
/** Get X-axis accelerometer reading.
* @return X-axis acceleration measurement in 16-bit 2's complement format
* @see getMotion6()
* @see MPU6500_RA_ACCEL_XOUT_H
*/
int16_t mpu6500GetAccelerationX()
{
i2cdevRead(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
/** Get Y-axis accelerometer reading.
* @return Y-axis acceleration measurement in 16-bit 2's complement format
* @see getMotion6()
* @see MPU6500_RA_ACCEL_YOUT_H
*/
int16_t mpu6500GetAccelerationY()
{
i2cdevRead(I2Cx, devAddr, MPU6500_RA_ACCEL_YOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
/** Get Z-axis accelerometer reading.
* @return Z-axis acceleration measurement in 16-bit 2's complement format
* @see getMotion6()
* @see MPU6500_RA_ACCEL_ZOUT_H
*/
int16_t mpu6500GetAccelerationZ()
{
i2cdevRead(I2Cx, devAddr, MPU6500_RA_ACCEL_ZOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
// TEMP_OUT_* registers
/** Get current internal temperature.
* @return Temperature reading in 16-bit 2's complement format
* @see MPU6500_RA_TEMP_OUT_H
*/
int16_t mpu6500GetTemperature()
{
i2cdevRead(I2Cx, devAddr, MPU6500_RA_TEMP_OUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
// GYRO_*OUT_* registers
/** Get 3-axis gyroscope readings.
* These gyroscope measurement registers, along with the accelerometer
* measurement registers, temperature measurement registers, and external sensor
* data registers, are composed of two sets of registers: an internal register
* set and a user-facing read register set.
* The data within the gyroscope sensors' internal register set is always
* updated at the Sample Rate. Meanwhile, the user-facing read register set
* duplicates the internal register set's data values whenever the serial
* interface is idle. This guarantees that a burst read of sensor registers will
* read measurements from the same sampling instant. Note that if burst reads
* are not used, the user is responsible for ensuring a set of single byte reads
* correspond to a single sampling instant by checking the Data Ready interrupt.
*
* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
* LSB in GYRO_xOUT is shown in the table below:
*
* <pre>
* FS_SEL | Full Scale Range | LSB Sensitivity
* -------+--------------------+----------------
* 0 | +/- 250 degrees/s | 131 LSB/deg/s
* 1 | +/- 500 degrees/s | 65.5 LSB/deg/s
* 2 | +/- 1000 degrees/s | 32.8 LSB/deg/s
* 3 | +/- 2000 degrees/s | 16.4 LSB/deg/s
* </pre>
*
* @param x 16-bit signed integer container for X-axis rotation
* @param y 16-bit signed integer container for Y-axis rotation
* @param z 16-bit signed integer container for Z-axis rotation
* @see getMotion6()
* @see MPU6500_RA_GYRO_XOUT_H
*/
void mpu6500GetRotation(int16_t* x, int16_t* y, int16_t* z)
{
i2cdevRead(I2Cx, devAddr, MPU6500_RA_GYRO_XOUT_H, 6, buffer);
*x = (((int16_t) buffer[0]) << 8) | buffer[1];
*y = (((int16_t) buffer[2]) << 8) | buffer[3];
*z = (((int16_t) buffer[4]) << 8) | buffer[5];
}
/** Get X-axis gyroscope reading.
* @return X-axis rotation measurement in 16-bit 2's complement format
* @see getMotion6()
* @see MPU6500_RA_GYRO_XOUT_H
*/
int16_t mpu6500GetRotationX()
{
i2cdevRead(I2Cx, devAddr, MPU6500_RA_GYRO_XOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
/** Get Y-axis gyroscope reading.
* @return Y-axis rotation measurement in 16-bit 2's complement format
* @see getMotion6()
* @see MPU6500_RA_GYRO_YOUT_H
*/
int16_t mpu6500GetRotationY()
{
i2cdevRead(I2Cx, devAddr, MPU6500_RA_GYRO_YOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
/** Get Z-axis gyroscope reading.
* @return Z-axis rotation measurement in 16-bit 2's complement format
* @see getMotion6()
* @see MPU6500_RA_GYRO_ZOUT_H
*/
int16_t mpu6500GetRotationZ()
{
i2cdevRead(I2Cx, devAddr, MPU6500_RA_GYRO_ZOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
// EXT_SENS_DATA_* registers
/** Read single byte from external sensor data register.
* These registers store data read from external sensors by the Slave 0, 1, 2,
* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
* I2C_SLV4_DI (Register 53).
*
* External sensor data is written to these registers at the Sample Rate as
* defined in Register 25. This access rate can be reduced by using the Slave
* Delay Enable registers (Register 103).
*
* External sensor data registers, along with the gyroscope measurement
* registers, accelerometer measurement registers, and temperature measurement
* registers, are composed of two sets of registers: an internal register set
* and a user-facing read register set.
*
* The data within the external sensors' internal register set is always updated
* at the Sample Rate (or the reduced access rate) whenever the serial interface
* is idle. This guarantees that a burst read of sensor registers will read
* measurements from the same sampling instant. Note that if burst reads are not
* used, the user is responsible for ensuring a set of single byte reads
* correspond to a single sampling instant by checking the Data Ready interrupt.
*
* Data is placed in these external sensor data registers according to
* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
* defined in Register 25) or delayed rate (if specified in Register 52 and
* 103). During each Sample cycle, slave reads are performed in order of Slave
* number. If all slaves are enabled with more than zero bytes to be read, the
* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
*
* Each enabled slave will have EXT_SENS_DATA registers associated with it by
* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
* change the higher numbered slaves' associated registers. Furthermore, if
* fewer total bytes are being read from the external sensors as a result of
* such a change, then the data remaining in the registers which no longer have
* an associated slave device (i.e. high numbered registers) will remain in
* these previously allocated registers unless reset.
*
* If the sum of the read lengths of all SLVx transactions exceed the number of
* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
* the slaves cannot be greater than 24 or some bytes will be lost.
*
* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
* information regarding the characteristics of Slave 4, please refer to
* Registers 49 to 53.
*
* EXAMPLE:
* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
* will be associated with Slave 1. If Slave 2 is enabled as well, registers
* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
*
* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
* instead.
*
* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
* If a slave is disabled at any time, the space initially allocated to the
* slave in the EXT_SENS_DATA register, will remain associated with that slave.
* This is to avoid dynamic adjustment of the register allocation.
*
* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
*
* This above is also true if one of the slaves gets NACKed and stops
* functioning.
*
* @param position Starting position (0-23)
* @return Byte read from register
*/
uint8_t mpu6500GetExternalSensorByte(int position)
{
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_EXT_SENS_DATA_00 + position, buffer);
return buffer[0];
}
/** Read word (2 bytes) from external sensor data registers.
* @param position Starting position (0-21)
* @return Word read from register
* @see getExternalSensorByte()
*/
uint16_t mpu6500GetExternalSensorWord(int position)
{
i2cdevRead(I2Cx, devAddr, MPU6500_RA_EXT_SENS_DATA_00 + position, 2, buffer);
return (((uint16_t) buffer[0]) << 8) | buffer[1];
}
/** Read double word (4 bytes) from external sensor data registers.
* @param position Starting position (0-20)
* @return Double word read from registers
* @see getExternalSensorByte()
*/
uint32_t mpu6500GetExternalSensorDWord(int position)
{
i2cdevRead(I2Cx, devAddr, MPU6500_RA_EXT_SENS_DATA_00 + position, 4, buffer);
return (((uint32_t) buffer[0]) << 24) | (((uint32_t) buffer[1]) << 16)
| (((uint16_t) buffer[2]) << 8) | buffer[3];
}
// MOT_DETECT_STATUS register
/** Get X-axis negative motion detection interrupt status.
* @return Motion detection status
* @see MPU6500_RA_MOT_DETECT_STATUS
* @see MPU6500_MOTION_MOT_XNEG_BIT
*/
bool mpu6500GetXNegMotionDetected()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_XNEG_BIT, buffer);
return buffer[0];
}
/** Get X-axis positive motion detection interrupt status.
* @return Motion detection status
* @see MPU6500_RA_MOT_DETECT_STATUS
* @see MPU6500_MOTION_MOT_XPOS_BIT
*/
bool mpu6500GetXPosMotionDetected()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_XPOS_BIT, buffer);
return buffer[0];
}
/** Get Y-axis negative motion detection interrupt status.
* @return Motion detection status
* @see MPU6500_RA_MOT_DETECT_STATUS
* @see MPU6500_MOTION_MOT_YNEG_BIT
*/
bool mpu6500GetYNegMotionDetected()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_YNEG_BIT, buffer);
return buffer[0];
}
/** Get Y-axis positive motion detection interrupt status.
* @return Motion detection status
* @see MPU6500_RA_MOT_DETECT_STATUS
* @see MPU6500_MOTION_MOT_YPOS_BIT
*/
bool mpu6500GetYPosMotionDetected()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_YPOS_BIT, buffer);
return buffer[0];
}
/** Get Z-axis negative motion detection interrupt status.
* @return Motion detection status
* @see MPU6500_RA_MOT_DETECT_STATUS
* @see MPU6500_MOTION_MOT_ZNEG_BIT
*/
bool mpu6500GetZNegMotionDetected()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_ZNEG_BIT, buffer);
return buffer[0];
}
/** Get Z-axis positive motion detection interrupt status.
* @return Motion detection status
* @see MPU6500_RA_MOT_DETECT_STATUS
* @see MPU6500_MOTION_MOT_ZPOS_BIT
*/
bool mpu6500GetZPosMotionDetected()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_ZPOS_BIT, buffer);
return buffer[0];
}
/** Get zero motion detection interrupt status.
* @return Motion detection status
* @see MPU6500_RA_MOT_DETECT_STATUS
* @see MPU6500_MOTION_MOT_ZRMOT_BIT
*/
bool mpu6500GetZeroMotionDetected()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_ZRMOT_BIT, buffer);
return buffer[0];
}
// I2C_SLV*_DO register
/** Write byte to Data Output container for specified slave.
* This register holds the output data written into Slave when Slave is set to
* write mode. For further information regarding Slave control, please
* refer to Registers 37 to 39 and immediately following.
* @param num Slave number (0-3)
* @param data Byte to write
* @see MPU6500_RA_I2C_SLV0_DO
*/
void mpu6500SetSlaveOutputByte(uint8_t num, uint8_t data)
{
if (num > 3)
return;
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_DO + num, data);
}
// I2C_MST_DELAY_CTRL register
/** Get external data shadow delay enabled status.
* This register is used to specify the timing of external sensor data
* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
* sensor data is delayed until all data has been received.
* @return Current external data shadow delay enabled status.
* @see MPU6500_RA_I2C_MST_DELAY_CTRL
* @see MPU6500_DELAYCTRL_DELAY_ES_SHADOW_BIT
*/
bool mpu6500GetExternalShadowDelayEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_DELAY_CTRL, MPU6500_DELAYCTRL_DELAY_ES_SHADOW_BIT,
buffer);
return buffer[0];
}
/** Set external data shadow delay enabled status.
* @param enabled New external data shadow delay enabled status.
* @see getExternalShadowDelayEnabled()
* @see MPU6500_RA_I2C_MST_DELAY_CTRL
* @see MPU6500_DELAYCTRL_DELAY_ES_SHADOW_BIT
*/
void mpu6500SetExternalShadowDelayEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_DELAY_CTRL,
MPU6500_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
}
/** Get slave delay enabled status.
* When a particular slave delay is enabled, the rate of access for the that
* slave device is reduced. When a slave's access rate is decreased relative to
* the Sample Rate, the slave is accessed every:
*
* 1 / (1 + I2C_MST_DLY) Samples
*
* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
* and DLPF_CFG (register 26).
*
* For further information regarding I2C_MST_DLY, please refer to register 52.
* For further information regarding the Sample Rate, please refer to register 25.
*
* @param num Slave number (0-4)
* @return Current slave delay enabled status.
* @see MPU6500_RA_I2C_MST_DELAY_CTRL
* @see MPU6500_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
*/
bool mpu6500GetSlaveDelayEnabled(uint8_t num)
{
// MPU6500_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
if (num > 4)
return 0;
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_DELAY_CTRL, num, buffer);
return buffer[0];
}
/** Set slave delay enabled status.
* @param num Slave number (0-4)
* @param enabled New slave delay enabled status.
* @see MPU6500_RA_I2C_MST_DELAY_CTRL
* @see MPU6500_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
*/
void mpu6500SetSlaveDelayEnabled(uint8_t num, bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_DELAY_CTRL, num, enabled);
}
// SIGNAL_PATH_RESET register
/** Reset gyroscope signal path.
* The reset will revert the signal path analog to digital converters and
* filters to their power up configurations.
* @see MPU6500_RA_SIGNAL_PATH_RESET
* @see MPU6500_PATHRESET_GYRO_RESET_BIT
*/
void mpu6500ResetGyroscopePath()
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_SIGNAL_PATH_RESET, MPU6500_PATHRESET_GYRO_RESET_BIT, 1);
}
/** Reset accelerometer signal path.
* The reset will revert the signal path analog to digital converters and
* filters to their power up configurations.
* @see MPU6500_RA_SIGNAL_PATH_RESET
* @see MPU6500_PATHRESET_ACCEL_RESET_BIT
*/
void mpu6500ResetAccelerometerPath()
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_SIGNAL_PATH_RESET, MPU6500_PATHRESET_ACCEL_RESET_BIT, 1);
}
/** Reset temperature sensor signal path.
* The reset will revert the signal path analog to digital converters and
* filters to their power up configurations.
* @see MPU6500_RA_SIGNAL_PATH_RESET
* @see MPU6500_PATHRESET_TEMP_RESET_BIT
*/
void mpu6500ResetTemperaturePath()
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_SIGNAL_PATH_RESET, MPU6500_PATHRESET_TEMP_RESET_BIT, 1);
}
// 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-6500 Product Specification document for
* further information regarding the detection modules.
* @return Current accelerometer power-on delay
* @see MPU6500_RA_MOT_DETECT_CTRL
* @see MPU6500_DETECT_ACCEL_ON_DELAY_BIT
*/
uint8_t mpu6500GetAccelerometerPowerOnDelay()
{
i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_ACCEL_ON_DELAY_BIT,
MPU6500_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
return buffer[0];
}
/** Set accelerometer power-on delay.
* @param delay New accelerometer power-on delay (0-3)
* @see getAccelerometerPowerOnDelay()
* @see MPU6500_RA_MOT_DETECT_CTRL
* @see MPU6500_DETECT_ACCEL_ON_DELAY_BIT
*/
void mpu6500SetAccelerometerPowerOnDelay(uint8_t delay)
{
i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_ACCEL_ON_DELAY_BIT,
MPU6500_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
}
/** Get Free Fall detection counter decrement configuration.
* Detection is registered by the Free Fall detection module after accelerometer
* measurements meet their respective threshold conditions over a specified
* number of samples. When the threshold conditions are met, the corresponding
* detection counter increments by 1. The user may control the rate at which the
* detection counter decrements when the threshold condition is not met by
* configuring FF_COUNT. The decrement rate can be set according to the
* following table:
*
* <pre>
* FF_COUNT | Counter Decrement
* ---------+------------------
* 0 | Reset
* 1 | 1
* 2 | 2
* 3 | 4
* </pre>
*
* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
* reset the counter to 0. For further information on Free Fall detection,
* please refer to Registers 29 to 32.
*
* @return Current decrement configuration
* @see MPU6500_RA_MOT_DETECT_CTRL
* @see MPU6500_DETECT_FF_COUNT_BIT
*/
uint8_t mpu6500GetFreefallDetectionCounterDecrement()
{
i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_FF_COUNT_BIT,
MPU6500_DETECT_FF_COUNT_LENGTH, buffer);
return buffer[0];
}
/** Set Free Fall detection counter decrement configuration.
* @param decrement New decrement configuration value
* @see getFreefallDetectionCounterDecrement()
* @see MPU6500_RA_MOT_DETECT_CTRL
* @see MPU6500_DETECT_FF_COUNT_BIT
*/
void mpu6500SetFreefallDetectionCounterDecrement(uint8_t decrement)
{
i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_FF_COUNT_BIT,
MPU6500_DETECT_FF_COUNT_LENGTH, decrement);
}
/** Get Motion detection counter decrement configuration.
* Detection is registered by the Motion detection module after accelerometer
* measurements meet their respective threshold conditions over a specified
* number of samples. When the threshold conditions are met, the corresponding
* detection counter increments by 1. The user may control the rate at which the
* detection counter decrements when the threshold condition is not met by
* configuring MOT_COUNT. The decrement rate can be set according to the
* following table:
*
* <pre>
* MOT_COUNT | Counter Decrement
* ----------+------------------
* 0 | Reset
* 1 | 1
* 2 | 2
* 3 | 4
* </pre>
*
* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
* reset the counter to 0. For further information on Motion detection,
* please refer to Registers 29 to 32.
*
*/
uint8_t mpu6500GetMotionDetectionCounterDecrement()
{
i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_MOT_COUNT_BIT,
MPU6500_DETECT_MOT_COUNT_LENGTH, buffer);
return buffer[0];
}
/** Set Motion detection counter decrement configuration.
* @param decrement New decrement configuration value
* @see getMotionDetectionCounterDecrement()
* @see MPU6500_RA_MOT_DETECT_CTRL
* @see MPU6500_DETECT_MOT_COUNT_BIT
*/
void mpu6500SetMotionDetectionCounterDecrement(uint8_t decrement)
{
i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_MOT_COUNT_BIT,
MPU6500_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 MPU6500_RA_USER_CTRL
* @see MPU6500_USERCTRL_FIFO_EN_BIT
*/
bool mpu6500GetFIFOEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set FIFO enabled status.
* @param enabled New FIFO enabled status
* @see getFIFOEnabled()
* @see MPU6500_RA_USER_CTRL
* @see MPU6500_USERCTRL_FIFO_EN_BIT
*/
void mpu6500SetFIFOEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_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 MPU6500_RA_USER_CTRL
* @see MPU6500_USERCTRL_I2C_MST_EN_BIT
*/
bool mpu6500GetI2CMasterModeEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_I2C_MST_EN_BIT, buffer);
return buffer[0];
}
/** Set I2C Master Mode enabled status.
* @param enabled New I2C Master Mode enabled status
* @see getI2CMasterModeEnabled()
* @see MPU6500_RA_USER_CTRL
* @see MPU6500_USERCTRL_I2C_MST_EN_BIT
*/
void mpu6500SetI2CMasterModeEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_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 mpu6500SwitchSPIEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_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 MPU6500_RA_USER_CTRL
* @see MPU6500_USERCTRL_FIFO_RESET_BIT
*/
void mpu6500ResetFIFO()
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_FIFO_RESET_BIT, 1);
}
/** 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 MPU6500_RA_USER_CTRL
* @see MPU6500_USERCTRL_I2C_MST_RESET_BIT
*/
void mpu6500ResetI2CMaster()
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_I2C_MST_RESET_BIT, 1);
}
/** 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 MPU6500_RA_USER_CTRL
* @see MPU6500_USERCTRL_SIG_COND_RESET_BIT
*/
void mpu6500ResetSensors()
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_SIG_COND_RESET_BIT, 1);
}
// PWR_MGMT_1 register
/** Trigger a full device reset.
* A small delay of ~50ms may be desirable after triggering a reset.
* @see MPU6500_RA_PWR_MGMT_1
* @see MPU6500_PWR1_DEVICE_RESET_BIT
*/
void mpu6500Reset()
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_DEVICE_RESET_BIT, 1);
}
/** 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 MPU6500_RA_PWR_MGMT_1
* @see MPU6500_PWR1_SLEEP_BIT
*/
bool mpu6500GetSleepEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_SLEEP_BIT, buffer);
return buffer[0];
}
/** Set sleep mode status.
* @param enabled New sleep mode enabled status
* @see getSleepEnabled()
* @see MPU6500_RA_PWR_MGMT_1
* @see MPU6500_PWR1_SLEEP_BIT
*/
void mpu6500SetSleepEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_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 MPU6500_RA_PWR_MGMT_1
* @see MPU6500_PWR1_CYCLE_BIT
*/
bool mpu6500GetWakeCycleEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_CYCLE_BIT, buffer);
return buffer[0];
}
/** Set wake cycle enabled status.
* @param enabled New sleep mode enabled status
* @see getWakeCycleEnabled()
* @see MPU6500_RA_PWR_MGMT_1
* @see MPU6500_PWR1_CYCLE_BIT
*/
void mpu6500SetWakeCycleEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_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 MPU6500_RA_PWR_MGMT_1
* @see MPU6500_PWR1_TEMP_DIS_BIT
*/
bool mpu6500GetTempSensorEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_TEMP_DIS_BIT, buffer);
return buffer[0] == 0; // 1 is actually disabled here
}
/** Set temperature sensor enabled status.
* Note: this register stores the *disabled* value, but for consistency with the
* rest of the code, the function is named and used with standard true/false
* values to indicate whether the sensor is enabled or disabled, respectively.
*
* @param enabled New temperature sensor enabled status
* @see getTempSensorEnabled()
* @see MPU6500_RA_PWR_MGMT_1
* @see MPU6500_PWR1_TEMP_DIS_BIT
*/
void mpu6500SetTempSensorEnabled(bool enabled)
{
// 1 is actually disabled here
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_TEMP_DIS_BIT, !enabled);
}
/** Get clock source setting.
* @return Current clock source setting
* @see MPU6500_RA_PWR_MGMT_1
* @see MPU6500_PWR1_CLKSEL_BIT
* @see MPU6500_PWR1_CLKSEL_LENGTH
*/
uint8_t mpu6500GetClockSource()
{
i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_CLKSEL_BIT,
MPU6500_PWR1_CLKSEL_LENGTH, buffer);
return buffer[0];
}
/** Set clock source setting.
* An internal 8MHz oscillator, gyroscope based clock, or external sources can
* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
* or an external source is chosen as the clock source, the MPU-60X0 can operate
* in low power modes with the gyroscopes disabled.
*
* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
* However, it is highly recommended that the device be configured to use one of
* the gyroscopes (or an external clock source) as the clock reference for
* improved stability. The clock source can be selected according to the following table:
*
* <pre>
* CLK_SEL | Clock Source
* --------+--------------------------------------
* 0 | Internal oscillator
* 1 | PLL with X Gyro reference
* 2 | PLL with Y Gyro reference
* 3 | PLL with Z Gyro reference
* 4 | PLL with external 32.768kHz reference
* 5 | PLL with external 19.2MHz reference
* 6 | Reserved
* 7 | Stops the clock and keeps the timing generator in reset
* </pre>
*
* @param source New clock source setting
* @see getClockSource()
* @see MPU6500_RA_PWR_MGMT_1
* @see MPU6500_PWR1_CLKSEL_BIT
* @see MPU6500_PWR1_CLKSEL_LENGTH
*/
void mpu6500SetClockSource(uint8_t source)
{
i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_CLKSEL_BIT,
MPU6500_PWR1_CLKSEL_LENGTH, source);
}
// PWR_MGMT_2 register
/** Get wake frequency in Accel-Only Low Power Mode.
* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
* the device will power off all devices except for the primary I2C interface,
* waking only the accelerometer at fixed intervals to take a single
* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
* as shown below:
*
* <pre>
* LP_WAKE_CTRL | Wake-up Frequency
* -------------+------------------
* 0 | 1.25 Hz
* 1 | 2.5 Hz
* 2 | 5 Hz
* 3 | 10 Hz
* <pre>
*
* For further information regarding the MPU-60X0's power modes, please refer to
* Register 107.
*
* @return Current wake frequency
* @see MPU6500_RA_PWR_MGMT_2
*/
uint8_t mpu6500GetWakeFrequency()
{
i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_LP_WAKE_CTRL_BIT,
MPU6500_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
return buffer[0];
}
/** Set wake frequency in Accel-Only Low Power Mode.
* @param frequency New wake frequency
* @see MPU6500_RA_PWR_MGMT_2
*/
void mpu6500SetWakeFrequency(uint8_t frequency)
{
i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_LP_WAKE_CTRL_BIT,
MPU6500_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 MPU6500_RA_PWR_MGMT_2
* @see MPU6500_PWR2_STBY_XA_BIT
*/
bool mpu6500GetStandbyXAccelEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_XA_BIT, buffer);
return buffer[0];
}
/** Set X-axis accelerometer standby enabled status.
* @param New X-axis standby enabled status
* @see getStandbyXAccelEnabled()
* @see MPU6500_RA_PWR_MGMT_2
* @see MPU6500_PWR2_STBY_XA_BIT
*/
void mpu6500SetStandbyXAccelEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_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 MPU6500_RA_PWR_MGMT_2
* @see MPU6500_PWR2_STBY_YA_BIT
*/
bool mpu6500GetStandbyYAccelEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_YA_BIT, buffer);
return buffer[0];
}
/** Set Y-axis accelerometer standby enabled status.
* @param New Y-axis standby enabled status
* @see getStandbyYAccelEnabled()
* @see MPU6500_RA_PWR_MGMT_2
* @see MPU6500_PWR2_STBY_YA_BIT
*/
void mpu6500SetStandbyYAccelEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_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 MPU6500_RA_PWR_MGMT_2
* @see MPU6500_PWR2_STBY_ZA_BIT
*/
bool mpu6500GetStandbyZAccelEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_ZA_BIT, buffer);
return buffer[0];
}
/** Set Z-axis accelerometer standby enabled status.
* @param New Z-axis standby enabled status
* @see getStandbyZAccelEnabled()
* @see MPU6500_RA_PWR_MGMT_2
* @see MPU6500_PWR2_STBY_ZA_BIT
*/
void mpu6500SetStandbyZAccelEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_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 MPU6500_RA_PWR_MGMT_2
* @see MPU6500_PWR2_STBY_XG_BIT
*/
bool mpu6500GetStandbyXGyroEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_XG_BIT, buffer);
return buffer[0];
}
/** Set X-axis gyroscope standby enabled status.
* @param New X-axis standby enabled status
* @see getStandbyXGyroEnabled()
* @see MPU6500_RA_PWR_MGMT_2
* @see MPU6500_PWR2_STBY_XG_BIT
*/
void mpu6500SetStandbyXGyroEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_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 MPU6500_RA_PWR_MGMT_2
* @see MPU6500_PWR2_STBY_YG_BIT
*/
bool mpu6500GetStandbyYGyroEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_YG_BIT, buffer);
return buffer[0];
}
/** Set Y-axis gyroscope standby enabled status.
* @param New Y-axis standby enabled status
* @see getStandbyYGyroEnabled()
* @see MPU6500_RA_PWR_MGMT_2
* @see MPU6500_PWR2_STBY_YG_BIT
*/
void mpu6500SetStandbyYGyroEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_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 MPU6500_RA_PWR_MGMT_2
* @see MPU6500_PWR2_STBY_ZG_BIT
*/
bool mpu6500GetStandbyZGyroEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_ZG_BIT, buffer);
return buffer[0];
}
/** Set Z-axis gyroscope standby enabled status.
* @param New Z-axis standby enabled status
* @see getStandbyZGyroEnabled()
* @see MPU6500_RA_PWR_MGMT_2
* @see MPU6500_PWR2_STBY_ZG_BIT
*/
void mpu6500SetStandbyZGyroEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_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 mpu6500GetFIFOCount()
{
i2cdevRead(I2Cx, devAddr, MPU6500_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 mpu6500GetFIFOByte()
{
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_FIFO_R_W, buffer);
return buffer[0];
}
void mpu6500GetFIFOBytes(uint8_t *data, uint8_t length)
{
i2cdevRead(I2Cx, devAddr, MPU6500_RA_FIFO_R_W, length, data);
}
/** Write byte to FIFO buffer.
* @see getFIFOByte()
* @see MPU6500_RA_FIFO_R_W
*/
void mpu6500SetFIFOByte(uint8_t data)
{
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_FIFO_R_W, data);
}
// WHO_AM_I register
/** Get Device ID.
* This register is used to verify the identity of the device (0b110100).
* @return Device ID (should be 0x68, 104 dec, 150 oct)
* @see MPU6500_RA_WHO_AM_I
* @see MPU6500_WHO_AM_I_BIT
* @see MPU6500_WHO_AM_I_LENGTH
*/
uint8_t mpu6500GetDeviceID()
{
i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_WHO_AM_I, MPU6500_WHO_AM_I_BIT, MPU6500_WHO_AM_I_LENGTH,
buffer);
return buffer[0];
}
/** Set Device ID.
* Write a new ID into the WHO_AM_I register (no idea why this should ever be
* necessary though).
* @param id New device ID to set.
* @see getDeviceID()
* @see MPU6500_RA_WHO_AM_I
* @see MPU6500_WHO_AM_I_BIT
* @see MPU6500_WHO_AM_I_LENGTH
*/
void mpu6500SetDeviceID(uint8_t id)
{
i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_WHO_AM_I, MPU6500_WHO_AM_I_BIT, MPU6500_WHO_AM_I_LENGTH,
id);
}
// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
// XG_OFFS_USR* registers
// INT_ENABLE register (DMP functions)
bool mpu6500GetIntPLLReadyEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_PLL_RDY_INT_BIT, buffer);
return buffer[0];
}
void mpu6500SetIntPLLReadyEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_PLL_RDY_INT_BIT, enabled);
}
bool mpu6500GetIntDMPEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_DMP_INT_BIT, buffer);
return buffer[0];
}
void mpu6500SetIntDMPEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_DMP_INT_BIT, enabled);
}
// DMP_INT_STATUS
bool mpu6500GetDMPInt5Status()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_5_BIT, buffer);
return buffer[0];
}
bool mpu6500GetDMPInt4Status()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_4_BIT, buffer);
return buffer[0];
}
bool mpu6500GetDMPInt3Status()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_3_BIT, buffer);
return buffer[0];
}
bool mpu6500GetDMPInt2Status()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_2_BIT, buffer);
return buffer[0];
}
bool mpu6500GetDMPInt1Status()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_1_BIT, buffer);
return buffer[0];
}
bool mpu6500GetDMPInt0Status()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_0_BIT, buffer);
return buffer[0];
}
// INT_STATUS register (DMP functions)
bool mpu6500GetIntPLLReadyStatus()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_PLL_RDY_INT_BIT, buffer);
return buffer[0];
}
bool mpu6500GetIntDMPStatus()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_DMP_INT_BIT, buffer);
return buffer[0];
}
// USER_CTRL register (DMP functions)
bool mpu6500GetDMPEnabled()
{
i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_DMP_EN_BIT, buffer);
return buffer[0];
}
void mpu6500SetDMPEnabled(bool enabled)
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_DMP_EN_BIT, enabled);
}
void mpu6500ResetDMP()
{
i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_DMP_RESET_BIT, 1);
}
// BANK_SEL register
void mpu6500SetMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
{
bank &= 0x1F;
if (userBank)
bank |= 0x20;
if (prefetchEnabled)
bank |= 0x40;
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_BANK_SEL, bank);
}
// MEM_START_ADDR register
void mpu6500SetMemoryStartAddress(uint8_t address)
{
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_MEM_START_ADDR, address);
}
// MEM_R_W register
uint8_t mpu6500ReadMemoryByte()
{
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_MEM_R_W, buffer);
return buffer[0];
}
void mpu6500WriteMemoryByte(uint8_t data)
{
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_MEM_R_W, data);
}
void mpu6500ReadMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
{
mpu6500SetMemoryBank(bank, true, true);
mpu6500SetMemoryStartAddress(address);
uint8_t chunkSize;
uint16_t i;
for (i = 0; i < dataSize;)
{
// determine correct chunk size according to bank position and data size
chunkSize = MPU6500_DMP_MEMORY_CHUNK_SIZE;
// make sure we don't go past the data size
if (i + chunkSize > dataSize)
chunkSize = dataSize - i;
// make sure this chunk doesn't go past the bank boundary (256 bytes)
if (chunkSize > 256 - address)
chunkSize = 256 - address;
// read the chunk of data as specified
i2cdevRead(I2Cx, devAddr, MPU6500_RA_MEM_R_W, chunkSize, data + i);
// increase byte index by [chunkSize]
i += chunkSize;
// uint8_t automatically wraps to 0 at 256
address += chunkSize;
// if we aren't done, update bank (if necessary) and address
if (i < dataSize)
{
if (address == 0)
bank++;
mpu6500SetMemoryBank(bank, true, true);
mpu6500SetMemoryStartAddress(address);
}
}
}
bool mpu6500WriteMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address,
bool verify)
{
static uint8_t verifyBuffer[MPU6500_DMP_MEMORY_CHUNK_SIZE];
uint8_t chunkSize;
uint8_t *progBuffer;
uint16_t i;
mpu6500SetMemoryBank(bank, true, true);
mpu6500SetMemoryStartAddress(address);
for (i = 0; i < dataSize;)
{
// determine correct chunk size according to bank position and data size
chunkSize = MPU6500_DMP_MEMORY_CHUNK_SIZE;
// make sure we don't go past the data size
if (i + chunkSize > dataSize)
chunkSize = dataSize - i;
// make sure this chunk doesn't go past the bank boundary (256 bytes)
if (chunkSize > 256 - address)
chunkSize = 256 - address;
// write the chunk of data as specified
progBuffer = (uint8_t *) data + i;
i2cdevWrite(I2Cx, devAddr, MPU6500_RA_MEM_R_W, chunkSize, progBuffer);
// verify data if needed
if (verify)
{
uint32_t j;
mpu6500SetMemoryBank(bank, true, true);
mpu6500SetMemoryStartAddress(address);
i2cdevRead(I2Cx, devAddr, MPU6500_RA_MEM_R_W, chunkSize, verifyBuffer);
for (j = 0; j < chunkSize; j++)
{
if (progBuffer[j] != verifyBuffer[j])
{
/*Serial.print("Block write verification error, bank ");
Serial.print(bank, DEC);
Serial.print(", address ");
Serial.print(address, DEC);
Serial.print("!\nExpected:");
for (j = 0; j < chunkSize; j++) {
Serial.print(" 0x");
if (progBuffer[j] < 16) Serial.print("0");
Serial.print(progBuffer[j], HEX);
}
Serial.print("\nReceived:");
for (uint8_t j = 0; j < chunkSize; j++) {
Serial.print(" 0x");
if (verifyBuffer[i + j] < 16) Serial.print("0");
Serial.print(verifyBuffer[i + j], HEX);
}
Serial.print("\n");*/
return false;
}
}
}
// increase byte index by [chunkSize]
i += chunkSize;
// uint8_t automatically wraps to 0 at 256
address += chunkSize;
// if we aren't done, update bank (if necessary) and address
if (i < dataSize)
{
if (address == 0)
bank++;
mpu6500SetMemoryBank(bank, true, true);
mpu6500SetMemoryStartAddress(address);
}
}
return true;
}
bool mpu6500WriteProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank,
uint8_t address, bool verify)
{
return mpu6500WriteMemoryBlock(data, dataSize, bank, address, verify);
}
#define MPU6500_DMP_CONFIG_BLOCK_SIZE 6
bool mpu6500WriteDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
{
uint8_t *progBuffer, success, special;
uint16_t i;
// config set data is a long string of blocks with the following structure:
// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
uint8_t bank=0;
uint8_t offset=0;
uint8_t length=0;
for (i = 0; i < dataSize;)
{
bank = data[i++];
offset = data[i++];
length = data[i++];
}
// write data or perform special action
if (length > 0)
{
// regular block of data to write
/*Serial.print("Writing config block to bank ");
Serial.print(bank);
Serial.print(", offset ");
Serial.print(offset);
Serial.print(", length=");
Serial.println(length);*/
progBuffer = (uint8_t *) data + i;
success = mpu6500WriteMemoryBlock(progBuffer, length, bank, offset, true);
i += length;
}
else
{
// special instruction
// NOTE: this kind of behavior (what and when to do certain things)
// is totally undocumented. This code is in here based on observed
// behavior only, and exactly why (or even whether) it has to be here
// is anybody's guess for now.
special = data[i++];
/*Serial.print("Special command code ");
Serial.print(special, HEX);
Serial.println(" found...");*/
if (special == 0x01)
{
// enable DMP-related interrupts
mpu6500SetIntZeroMotionEnabled(true);
mpu6500SetIntFIFOBufferOverflowEnabled(true);
mpu6500SetIntDMPEnabled(true);
//i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, 0x32);
success = true;
}
else
{
// unknown special command
success = false;
}
}
if (!success)
{
return false; // uh oh
}
return true;
}
bool mpu6500WriteProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
{
return mpu6500WriteDMPConfigurationSet(data, dataSize);
}
// DMP_CFG_1 register
uint8_t mpu6500GetDMPConfig1()
{
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_DMP_CFG_1, buffer);
return buffer[0];
}
void mpu6500SetDMPConfig1(uint8_t config)
{
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_DMP_CFG_1, config);
}
// DMP_CFG_2 register
uint8_t mpu6500GetDMPConfig2()
{
i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_DMP_CFG_2, buffer);
return buffer[0];
}
void mpu6500SetDMPConfig2(uint8_t config)
{
i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_DMP_CFG_2, config);
}
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