From 153f829deca8128b3abd2bebeb505954290c8f59 Mon Sep 17 00:00:00 2001 From: Stanley Huang Date: Sat, 21 Mar 2015 21:38:59 +1100 Subject: Add Arduino library for MPU-9150 --- libraries/MPU9150/MPU9150.cpp | 3173 +++++++++++++++++++++++++++++++++++++++++ libraries/MPU9150/MPU9150.h | 1002 +++++++++++++ 2 files changed, 4175 insertions(+) create mode 100644 libraries/MPU9150/MPU9150.cpp create mode 100644 libraries/MPU9150/MPU9150.h (limited to 'libraries/MPU9150') diff --git a/libraries/MPU9150/MPU9150.cpp b/libraries/MPU9150/MPU9150.cpp new file mode 100644 index 0000000..caed93d --- /dev/null +++ b/libraries/MPU9150/MPU9150.cpp @@ -0,0 +1,3173 @@ +// I2Cdev library collection - MPU6050 I2C device class +// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00) +// 8/24/2011 by Jeff Rowberg +// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib +// +// Changelog: +// ... - ongoing debug release + +// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE +// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF +// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING. + +/* ============================================ +I2Cdev device library code is placed under the MIT license +Copyright (c) 2012 Jeff Rowberg + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. +=============================================== +*/ + +#include "MPU9150.h" + +/** Default constructor, uses default I2C address. + * @see MPU6050_DEFAULT_ADDRESS + */ +MPU6050::MPU6050() { + devAddr = MPU6050_DEFAULT_ADDRESS; +} + +/** Specific address constructor. + * @param address I2C address + * @see MPU6050_DEFAULT_ADDRESS + * @see MPU6050_ADDRESS_AD0_LOW + * @see MPU6050_ADDRESS_AD0_HIGH + */ +MPU6050::MPU6050(uint8_t address) { + devAddr = address; +} + +/** Power on and prepare for general usage. + * This will activate the device and take it out of sleep mode (which must be done + * after start-up). This function also sets both the accelerometer and the gyroscope + * to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets + * the clock source to use the X Gyro for reference, which is slightly better than + * the default internal clock source. + */ +void MPU6050::initialize() { + setClockSource(MPU6050_CLOCK_PLL_XGYRO); + setFullScaleGyroRange(MPU6050_GYRO_FS_250); + setFullScaleAccelRange(MPU6050_ACCEL_FS_2); + setSleepEnabled(false); // thanks to Jack Elston for pointing this one out! +} + +/** Verify the I2C connection. + * Make sure the device is connected and responds as expected. + * @return True if connection is valid, false otherwise + */ +bool MPU6050::testConnection() { + return getDeviceID() == 0x34; +} + +// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC) + +/** Get the auxiliary I2C supply voltage level. + * When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to + * 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to + * the MPU-6000, which does not have a VLOGIC pin. + * @return I2C supply voltage level (0=VLOGIC, 1=VDD) + */ +uint8_t MPU6050::getAuxVDDIOLevel() { + I2Cdev::readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer); + return buffer[0]; +} +/** Set the auxiliary I2C supply voltage level. + * When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to + * 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to + * the MPU-6000, which does not have a VLOGIC pin. + * @param level I2C supply voltage level (0=VLOGIC, 1=VDD) + */ +void MPU6050::setAuxVDDIOLevel(uint8_t level) { + I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level); +} + +// SMPLRT_DIV register + +/** Get gyroscope output rate divider. + * The sensor register output, FIFO output, DMP sampling, Motion detection, Zero + * Motion detection, and Free Fall detection are all based on the Sample Rate. + * The Sample Rate is generated by dividing the gyroscope output rate by + * SMPLRT_DIV: + * + * Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV) + * + * where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or + * 7), and 1kHz when the DLPF is enabled (see Register 26). + * + * Note: The accelerometer output rate is 1kHz. This means that for a Sample + * Rate greater than 1kHz, the same accelerometer sample may be output to the + * FIFO, DMP, and sensor registers more than once. + * + * For a diagram of the gyroscope and accelerometer signal paths, see Section 8 + * of the MPU-6000/MPU-6050 Product Specification document. + * + * @return Current sample rate + * @see MPU6050_RA_SMPLRT_DIV + */ +uint8_t MPU6050::getRate() { + I2Cdev::readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer); + return buffer[0]; +} + +uint8_t MPU6050::checkMagStatus() { + I2Cdev::readByte(MPU9150_RA_MAG_ADDRESS, 0x02, buffer); + return buffer[0]; +} + + +/** Set gyroscope sample rate divider. + * @param rate New sample rate divider + * @see getRate() + * @see MPU6050_RA_SMPLRT_DIV + */ +void MPU6050::setRate(uint8_t rate) { + I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate); +} + +// CONFIG register + +/** Get external FSYNC configuration. + * Configures the external Frame Synchronization (FSYNC) pin sampling. An + * external signal connected to the FSYNC pin can be sampled by configuring + * EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short + * strobes may be captured. The latched FSYNC signal will be sampled at the + * Sampling Rate, as defined in register 25. After sampling, the latch will + * reset to the current FSYNC signal state. + * + * The sampled value will be reported in place of the least significant bit in + * a sensor data register determined by the value of EXT_SYNC_SET according to + * the following table. + * + * 
+ * EXT_SYNC_SET | FSYNC Bit Location
+ * -------------+-------------------
+ * 0            | Input disabled
+ * 1            | TEMP_OUT_L[0]
+ * 2            | GYRO_XOUT_L[0]
+ * 3            | GYRO_YOUT_L[0]
+ * 4            | GYRO_ZOUT_L[0]
+ * 5            | ACCEL_XOUT_L[0]
+ * 6            | ACCEL_YOUT_L[0]
+ * 7            | ACCEL_ZOUT_L[0]
+ *
+ * + * @return FSYNC configuration value + */ +uint8_t MPU6050::getExternalFrameSync() { + I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer); + return buffer[0]; +} +/** Set external FSYNC configuration. + * @see getExternalFrameSync() + * @see MPU6050_RA_CONFIG + * @param sync New FSYNC configuration value + */ +void MPU6050::setExternalFrameSync(uint8_t sync) { + I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync); +} +/** Get digital low-pass filter configuration. + * The DLPF_CFG parameter sets the digital low pass filter configuration. It + * also determines the internal sampling rate used by the device as shown in + * the table below. + * + * Note: The accelerometer output rate is 1kHz. This means that for a Sample + * Rate greater than 1kHz, the same accelerometer sample may be output to the + * FIFO, DMP, and sensor registers more than once. + * + * 
+ *          |   ACCELEROMETER    |           GYROSCOPE
+ * DLPF_CFG | Bandwidth | Delay  | Bandwidth | Delay  | Sample Rate
+ * ---------+-----------+--------+-----------+--------+-------------
+ * 0        | 260Hz     | 0ms    | 256Hz     | 0.98ms | 8kHz
+ * 1        | 184Hz     | 2.0ms  | 188Hz     | 1.9ms  | 1kHz
+ * 2        | 94Hz      | 3.0ms  | 98Hz      | 2.8ms  | 1kHz
+ * 3        | 44Hz      | 4.9ms  | 42Hz      | 4.8ms  | 1kHz
+ * 4        | 21Hz      | 8.5ms  | 20Hz      | 8.3ms  | 1kHz
+ * 5        | 10Hz      | 13.8ms | 10Hz      | 13.4ms | 1kHz
+ * 6        | 5Hz       | 19.0ms | 5Hz       | 18.6ms | 1kHz
+ * 7        |   -- Reserved --   |   -- Reserved --   | Reserved
+ *
+ * + * @return DLFP configuration + * @see MPU6050_RA_CONFIG + * @see MPU6050_CFG_DLPF_CFG_BIT + * @see MPU6050_CFG_DLPF_CFG_LENGTH + */ +uint8_t MPU6050::getDLPFMode() { + I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer); + return buffer[0]; +} +/** Set digital low-pass filter configuration. + * @param mode New DLFP configuration setting + * @see getDLPFBandwidth() + * @see MPU6050_DLPF_BW_256 + * @see MPU6050_RA_CONFIG + * @see MPU6050_CFG_DLPF_CFG_BIT + * @see MPU6050_CFG_DLPF_CFG_LENGTH + */ +void MPU6050::setDLPFMode(uint8_t mode) { + I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode); +} + +// GYRO_CONFIG register + +/** Get full-scale gyroscope range. + * The FS_SEL parameter allows setting the full-scale range of the gyro sensors, + * as described in the table below. + * + * 
+ * 0 = +/- 250 degrees/sec
+ * 1 = +/- 500 degrees/sec
+ * 2 = +/- 1000 degrees/sec
+ * 3 = +/- 2000 degrees/sec
+ *
+ * + * @return Current full-scale gyroscope range setting + * @see MPU6050_GYRO_FS_250 + * @see MPU6050_RA_GYRO_CONFIG + * @see MPU6050_GCONFIG_FS_SEL_BIT + * @see MPU6050_GCONFIG_FS_SEL_LENGTH + */ +uint8_t MPU6050::getFullScaleGyroRange() { + I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer); + return buffer[0]; +} +/** Set full-scale gyroscope range. + * @param range New full-scale gyroscope range value + * @see getFullScaleRange() + * @see MPU6050_GYRO_FS_250 + * @see MPU6050_RA_GYRO_CONFIG + * @see MPU6050_GCONFIG_FS_SEL_BIT + * @see MPU6050_GCONFIG_FS_SEL_LENGTH + */ +void MPU6050::setFullScaleGyroRange(uint8_t range) { + I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range); +} + +// ACCEL_CONFIG register + +/** Get self-test enabled setting for accelerometer X axis. + * @return Self-test enabled value + * @see MPU6050_RA_ACCEL_CONFIG + */ +bool MPU6050::getAccelXSelfTest() { + I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer); + return buffer[0]; +} +/** Get self-test enabled setting for accelerometer X axis. + * @param enabled Self-test enabled value + * @see MPU6050_RA_ACCEL_CONFIG + */ +void MPU6050::setAccelXSelfTest(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled); +} +/** Get self-test enabled value for accelerometer Y axis. + * @return Self-test enabled value + * @see MPU6050_RA_ACCEL_CONFIG + */ +bool MPU6050::getAccelYSelfTest() { + I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer); + return buffer[0]; +} +/** Get self-test enabled value for accelerometer Y axis. + * @param enabled Self-test enabled value + * @see MPU6050_RA_ACCEL_CONFIG + */ +void MPU6050::setAccelYSelfTest(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled); +} +/** Get self-test enabled value for accelerometer Z axis. + * @return Self-test enabled value + * @see MPU6050_RA_ACCEL_CONFIG + */ +bool MPU6050::getAccelZSelfTest() { + I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer); + return buffer[0]; +} +/** Set self-test enabled value for accelerometer Z axis. + * @param enabled Self-test enabled value + * @see MPU6050_RA_ACCEL_CONFIG + */ +void MPU6050::setAccelZSelfTest(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled); +} +/** Get full-scale accelerometer range. + * The FS_SEL parameter allows setting the full-scale range of the accelerometer + * sensors, as described in the table below. + * + * 
+ * 0 = +/- 2g
+ * 1 = +/- 4g
+ * 2 = +/- 8g
+ * 3 = +/- 16g
+ *
+ * + * @return Current full-scale accelerometer range setting + * @see MPU6050_ACCEL_FS_2 + * @see MPU6050_RA_ACCEL_CONFIG + * @see MPU6050_ACONFIG_AFS_SEL_BIT + * @see MPU6050_ACONFIG_AFS_SEL_LENGTH + */ +uint8_t MPU6050::getFullScaleAccelRange() { + I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer); + return buffer[0]; +} +/** Set full-scale accelerometer range. + * @param range New full-scale accelerometer range setting + * @see getFullScaleAccelRange() + */ +void MPU6050::setFullScaleAccelRange(uint8_t range) { + I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range); +} +/** Get the high-pass filter configuration. + * The DHPF is a filter module in the path leading to motion detectors (Free + * Fall, Motion threshold, and Zero Motion). The high pass filter output is not + * available to the data registers (see Figure in Section 8 of the MPU-6000/ + * MPU-6050 Product Specification document). + * + * The high pass filter has three modes: + * + * 
+ *    Reset: The filter output settles to zero within one sample. This
+ *           effectively disables the high pass filter. This mode may be toggled
+ *           to quickly settle the filter.
+ *
+ *    On:    The high pass filter will pass signals above the cut off frequency.
+ *
+ *    Hold:  When triggered, the filter holds the present sample. The filter
+ *           output will be the difference between the input sample and the held
+ *           sample.
+ *
+ * + * 
+ * ACCEL_HPF | Filter Mode | Cut-off Frequency
+ * ----------+-------------+------------------
+ * 0         | Reset       | None
+ * 1         | On          | 5Hz
+ * 2         | On          | 2.5Hz
+ * 3         | On          | 1.25Hz
+ * 4         | On          | 0.63Hz
+ * 7         | Hold        | None
+ *
+ * + * @return Current high-pass filter configuration + * @see MPU6050_DHPF_RESET + * @see MPU6050_RA_ACCEL_CONFIG + */ +uint8_t MPU6050::getDHPFMode() { + I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer); + return buffer[0]; +} +/** Set the high-pass filter configuration. + * @param bandwidth New high-pass filter configuration + * @see setDHPFMode() + * @see MPU6050_DHPF_RESET + * @see MPU6050_RA_ACCEL_CONFIG + */ +void MPU6050::setDHPFMode(uint8_t bandwidth) { + I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth); +} + +// FF_THR register + +/** Get free-fall event acceleration threshold. + * This register configures the detection threshold for Free Fall event + * detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the + * absolute value of the accelerometer measurements for the three axes are each + * less than the detection threshold. This condition increments the Free Fall + * duration counter (Register 30). The Free Fall interrupt is triggered when the + * Free Fall duration counter reaches the time specified in FF_DUR. + * + * For more details on the Free Fall detection interrupt, see Section 8.2 of the + * MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and + * 58 of this document. + * + * @return Current free-fall acceleration threshold value (LSB = 2mg) + * @see MPU6050_RA_FF_THR + */ +uint8_t MPU6050::getFreefallDetectionThreshold() { + I2Cdev::readByte(devAddr, MPU6050_RA_FF_THR, buffer); + return buffer[0]; +} +/** Get free-fall event acceleration threshold. + * @param threshold New free-fall acceleration threshold value (LSB = 2mg) + * @see getFreefallDetectionThreshold() + * @see MPU6050_RA_FF_THR + */ +void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) { + I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold); +} + +// FF_DUR register + +/** Get free-fall event duration threshold. + * This register configures the duration counter threshold for Free Fall event + * detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit + * of 1 LSB = 1 ms. + * + * The Free Fall duration counter increments while the absolute value of the + * accelerometer measurements are each less than the detection threshold + * (Register 29). The Free Fall interrupt is triggered when the Free Fall + * duration counter reaches the time specified in this register. + * + * For more details on the Free Fall detection interrupt, see Section 8.2 of + * the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 + * and 58 of this document. + * + * @return Current free-fall duration threshold value (LSB = 1ms) + * @see MPU6050_RA_FF_DUR + */ +uint8_t MPU6050::getFreefallDetectionDuration() { + I2Cdev::readByte(devAddr, MPU6050_RA_FF_DUR, buffer); + return buffer[0]; +} +/** Get free-fall event duration threshold. + * @param duration New free-fall duration threshold value (LSB = 1ms) + * @see getFreefallDetectionDuration() + * @see MPU6050_RA_FF_DUR + */ +void MPU6050::setFreefallDetectionDuration(uint8_t duration) { + I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration); +} + +// MOT_THR register + +/** Get motion detection event acceleration threshold. + * This register configures the detection threshold for Motion interrupt + * generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the + * absolute value of any of the accelerometer measurements exceeds this Motion + * detection threshold. This condition increments the Motion detection duration + * counter (Register 32). The Motion detection interrupt is triggered when the + * Motion Detection counter reaches the time count specified in MOT_DUR + * (Register 32). + * + * The Motion interrupt will indicate the axis and polarity of detected motion + * in MOT_DETECT_STATUS (Register 97). + * + * For more details on the Motion detection interrupt, see Section 8.3 of the + * MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and + * 58 of this document. + * + * @return Current motion detection acceleration threshold value (LSB = 2mg) + * @see MPU6050_RA_MOT_THR + */ +uint8_t MPU6050::getMotionDetectionThreshold() { + I2Cdev::readByte(devAddr, MPU6050_RA_MOT_THR, buffer); + return buffer[0]; +} +/** Set free-fall event acceleration threshold. + * @param threshold New motion detection acceleration threshold value (LSB = 2mg) + * @see getMotionDetectionThreshold() + * @see MPU6050_RA_MOT_THR + */ +void MPU6050::setMotionDetectionThreshold(uint8_t threshold) { + I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold); +} + +// MOT_DUR register + +/** Get motion detection event duration threshold. + * This register configures the duration counter threshold for Motion interrupt + * generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit + * of 1LSB = 1ms. The Motion detection duration counter increments when the + * absolute value of any of the accelerometer measurements exceeds the Motion + * detection threshold (Register 31). The Motion detection interrupt is + * triggered when the Motion detection counter reaches the time count specified + * in this register. + * + * For more details on the Motion detection interrupt, see Section 8.3 of the + * MPU-6000/MPU-6050 Product Specification document. + * + * @return Current motion detection duration threshold value (LSB = 1ms) + * @see MPU6050_RA_MOT_DUR + */ +uint8_t MPU6050::getMotionDetectionDuration() { + I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DUR, buffer); + return buffer[0]; +} +/** Set motion detection event duration threshold. + * @param duration New motion detection duration threshold value (LSB = 1ms) + * @see getMotionDetectionDuration() + * @see MPU6050_RA_MOT_DUR + */ +void MPU6050::setMotionDetectionDuration(uint8_t duration) { + I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration); +} + +// ZRMOT_THR register + +/** Get zero motion detection event acceleration threshold. + * This register configures the detection threshold for Zero Motion interrupt + * generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when + * the absolute value of the accelerometer measurements for the 3 axes are each + * less than the detection threshold. This condition increments the Zero Motion + * duration counter (Register 34). The Zero Motion interrupt is triggered when + * the Zero Motion duration counter reaches the time count specified in + * ZRMOT_DUR (Register 34). + * + * Unlike Free Fall or Motion detection, Zero Motion detection triggers an + * interrupt both when Zero Motion is first detected and when Zero Motion is no + * longer detected. + * + * When a zero motion event is detected, a Zero Motion Status will be indicated + * in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion + * condition is detected, the status bit is set to 1. When a zero-motion-to- + * motion condition is detected, the status bit is set to 0. + * + * For more details on the Zero Motion detection interrupt, see Section 8.4 of + * the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 + * and 58 of this document. + * + * @return Current zero motion detection acceleration threshold value (LSB = 2mg) + * @see MPU6050_RA_ZRMOT_THR + */ +uint8_t MPU6050::getZeroMotionDetectionThreshold() { + I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer); + return buffer[0]; +} +/** Set zero motion detection event acceleration threshold. + * @param threshold New zero motion detection acceleration threshold value (LSB = 2mg) + * @see getZeroMotionDetectionThreshold() + * @see MPU6050_RA_ZRMOT_THR + */ +void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) { + I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold); +} + +// ZRMOT_DUR register + +/** Get zero motion detection event duration threshold. + * This register configures the duration counter threshold for Zero Motion + * interrupt generation. The duration counter ticks at 16 Hz, therefore + * ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter + * increments while the absolute value of the accelerometer measurements are + * each less than the detection threshold (Register 33). The Zero Motion + * interrupt is triggered when the Zero Motion duration counter reaches the time + * count specified in this register. + * + * For more details on the Zero Motion detection interrupt, see Section 8.4 of + * the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56 + * and 58 of this document. + * + * @return Current zero motion detection duration threshold value (LSB = 64ms) + * @see MPU6050_RA_ZRMOT_DUR + */ +uint8_t MPU6050::getZeroMotionDetectionDuration() { + I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer); + return buffer[0]; +} +/** Set zero motion detection event duration threshold. + * @param duration New zero motion detection duration threshold value (LSB = 1ms) + * @see getZeroMotionDetectionDuration() + * @see MPU6050_RA_ZRMOT_DUR + */ +void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) { + I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration); +} + +// FIFO_EN register + +/** Get temperature FIFO enabled value. + * When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and + * 66) to be written into the FIFO buffer. + * @return Current temperature FIFO enabled value + * @see MPU6050_RA_FIFO_EN + */ +bool MPU6050::getTempFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set temperature FIFO enabled value. + * @param enabled New temperature FIFO enabled value + * @see getTempFIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ +void MPU6050::setTempFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled); +} +/** Get gyroscope X-axis FIFO enabled value. + * When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and + * 68) to be written into the FIFO buffer. + * @return Current gyroscope X-axis FIFO enabled value + * @see MPU6050_RA_FIFO_EN + */ +bool MPU6050::getXGyroFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set gyroscope X-axis FIFO enabled value. + * @param enabled New gyroscope X-axis FIFO enabled value + * @see getXGyroFIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ +void MPU6050::setXGyroFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled); +} +/** Get gyroscope Y-axis FIFO enabled value. + * When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and + * 70) to be written into the FIFO buffer. + * @return Current gyroscope Y-axis FIFO enabled value + * @see MPU6050_RA_FIFO_EN + */ +bool MPU6050::getYGyroFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set gyroscope Y-axis FIFO enabled value. + * @param enabled New gyroscope Y-axis FIFO enabled value + * @see getYGyroFIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ +void MPU6050::setYGyroFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled); +} +/** Get gyroscope Z-axis FIFO enabled value. + * When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and + * 72) to be written into the FIFO buffer. + * @return Current gyroscope Z-axis FIFO enabled value + * @see MPU6050_RA_FIFO_EN + */ +bool MPU6050::getZGyroFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set gyroscope Z-axis FIFO enabled value. + * @param enabled New gyroscope Z-axis FIFO enabled value + * @see getZGyroFIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ +void MPU6050::setZGyroFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled); +} +/** Get accelerometer FIFO enabled value. + * When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H, + * ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be + * written into the FIFO buffer. + * @return Current accelerometer FIFO enabled value + * @see MPU6050_RA_FIFO_EN + */ +bool MPU6050::getAccelFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set accelerometer FIFO enabled value. + * @param enabled New accelerometer FIFO enabled value + * @see getAccelFIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ +void MPU6050::setAccelFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled); +} +/** Get Slave 2 FIFO enabled value. + * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) + * associated with Slave 2 to be written into the FIFO buffer. + * @return Current Slave 2 FIFO enabled value + * @see MPU6050_RA_FIFO_EN + */ +bool MPU6050::getSlave2FIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set Slave 2 FIFO enabled value. + * @param enabled New Slave 2 FIFO enabled value + * @see getSlave2FIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ +void MPU6050::setSlave2FIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled); +} +/** Get Slave 1 FIFO enabled value. + * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) + * associated with Slave 1 to be written into the FIFO buffer. + * @return Current Slave 1 FIFO enabled value + * @see MPU6050_RA_FIFO_EN + */ +bool MPU6050::getSlave1FIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set Slave 1 FIFO enabled value. + * @param enabled New Slave 1 FIFO enabled value + * @see getSlave1FIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ +void MPU6050::setSlave1FIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled); +} +/** Get Slave 0 FIFO enabled value. + * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) + * associated with Slave 0 to be written into the FIFO buffer. + * @return Current Slave 0 FIFO enabled value + * @see MPU6050_RA_FIFO_EN + */ +bool MPU6050::getSlave0FIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set Slave 0 FIFO enabled value. + * @param enabled New Slave 0 FIFO enabled value + * @see getSlave0FIFOEnabled() + * @see MPU6050_RA_FIFO_EN + */ +void MPU6050::setSlave0FIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled); +} + +// I2C_MST_CTRL register + +/** Get multi-master enabled value. + * Multi-master capability allows multiple I2C masters to operate on the same + * bus. In circuits where multi-master capability is required, set MULT_MST_EN + * to 1. This will increase current drawn by approximately 30uA. + * + * In circuits where multi-master capability is required, the state of the I2C + * bus must always be monitored by each separate I2C Master. Before an I2C + * Master can assume arbitration of the bus, it must first confirm that no other + * I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the + * MPU-60X0's bus arbitration detection logic is turned on, enabling it to + * detect when the bus is available. + * + * @return Current multi-master enabled value + * @see MPU6050_RA_I2C_MST_CTRL + */ +bool MPU6050::getMultiMasterEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer); + return buffer[0]; +} +/** Set multi-master enabled value. + * @param enabled New multi-master enabled value + * @see getMultiMasterEnabled() + * @see MPU6050_RA_I2C_MST_CTRL + */ +void MPU6050::setMultiMasterEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled); +} +/** Get wait-for-external-sensor-data enabled value. + * When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be + * delayed until External Sensor data from the Slave Devices are loaded into the + * EXT_SENS_DATA registers. This is used to ensure that both the internal sensor + * data (i.e. from gyro and accel) and external sensor data have been loaded to + * their respective data registers (i.e. the data is synced) when the Data Ready + * interrupt is triggered. + * + * @return Current wait-for-external-sensor-data enabled value + * @see MPU6050_RA_I2C_MST_CTRL + */ +bool MPU6050::getWaitForExternalSensorEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer); + return buffer[0]; +} +/** Set wait-for-external-sensor-data enabled value. + * @param enabled New wait-for-external-sensor-data enabled value + * @see getWaitForExternalSensorEnabled() + * @see MPU6050_RA_I2C_MST_CTRL + */ +void MPU6050::setWaitForExternalSensorEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled); +} +/** Get Slave 3 FIFO enabled value. + * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) + * associated with Slave 3 to be written into the FIFO buffer. + * @return Current Slave 3 FIFO enabled value + * @see MPU6050_RA_MST_CTRL + */ +bool MPU6050::getSlave3FIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set Slave 3 FIFO enabled value. + * @param enabled New Slave 3 FIFO enabled value + * @see getSlave3FIFOEnabled() + * @see MPU6050_RA_MST_CTRL + */ +void MPU6050::setSlave3FIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled); +} +/** Get slave read/write transition enabled value. + * The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave + * read to the next slave read. If the bit equals 0, there will be a restart + * between reads. If the bit equals 1, there will be a stop followed by a start + * of the following read. When a write transaction follows a read transaction, + * the stop followed by a start of the successive write will be always used. + * + * @return Current slave read/write transition enabled value + * @see MPU6050_RA_I2C_MST_CTRL + */ +bool MPU6050::getSlaveReadWriteTransitionEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer); + return buffer[0]; +} +/** Set slave read/write transition enabled value. + * @param enabled New slave read/write transition enabled value + * @see getSlaveReadWriteTransitionEnabled() + * @see MPU6050_RA_I2C_MST_CTRL + */ +void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled); +} +/** Get I2C master clock speed. + * I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the + * MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to + * the following table: + * + * 
+ * I2C_MST_CLK | I2C Master Clock Speed | 8MHz Clock Divider
+ * ------------+------------------------+-------------------
+ * 0           | 348kHz                 | 23
+ * 1           | 333kHz                 | 24
+ * 2           | 320kHz                 | 25
+ * 3           | 308kHz                 | 26
+ * 4           | 296kHz                 | 27
+ * 5           | 286kHz                 | 28
+ * 6           | 276kHz                 | 29
+ * 7           | 267kHz                 | 30
+ * 8           | 258kHz                 | 31
+ * 9           | 500kHz                 | 16
+ * 10          | 471kHz                 | 17
+ * 11          | 444kHz                 | 18
+ * 12          | 421kHz                 | 19
+ * 13          | 400kHz                 | 20
+ * 14          | 381kHz                 | 21
+ * 15          | 364kHz                 | 22
+ *
+ * + * @return Current I2C master clock speed + * @see MPU6050_RA_I2C_MST_CTRL + */ +uint8_t MPU6050::getMasterClockSpeed() { + I2Cdev::readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer); + return buffer[0]; +} +/** Set I2C master clock speed. + * @reparam speed Current I2C master clock speed + * @see MPU6050_RA_I2C_MST_CTRL + */ +void MPU6050::setMasterClockSpeed(uint8_t speed) { + I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed); +} + +// I2C_SLV* registers (Slave 0-3) + +/** Get the I2C address of the specified slave (0-3). + * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read + * operation, and if it is cleared, then it's a write operation. The remaining + * bits (6-0) are the 7-bit device address of the slave device. + * + * In read mode, the result of the read is placed in the lowest available + * EXT_SENS_DATA register. For further information regarding the allocation of + * read results, please refer to the EXT_SENS_DATA register description + * (Registers 73 - 96). + * + * The MPU-6050 supports a total of five slaves, but Slave 4 has unique + * characteristics, and so it has its own functions (getSlave4* and setSlave4*). + * + * I2C data transactions are performed at the Sample Rate, as defined in + * Register 25. The user is responsible for ensuring that I2C data transactions + * to and from each enabled Slave can be completed within a single period of the + * Sample Rate. + * + * The I2C slave access rate can be reduced relative to the Sample Rate. This + * reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a + * slave's access rate is reduced relative to the Sample Rate is determined by + * I2C_MST_DELAY_CTRL (Register 103). + * + * The processing order for the slaves is fixed. The sequence followed for + * processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a + * particular Slave is disabled it will be skipped. + * + * Each slave can either be accessed at the sample rate or at a reduced sample + * rate. In a case where some slaves are accessed at the Sample Rate and some + * slaves are accessed at the reduced rate, the sequence of accessing the slaves + * (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will + * be skipped if their access rate dictates that they should not be accessed + * during that particular cycle. For further information regarding the reduced + * access rate, please refer to Register 52. Whether a slave is accessed at the + * Sample Rate or at the reduced rate is determined by the Delay Enable bits in + * Register 103. + * + * @param num Slave number (0-3) + * @return Current address for specified slave + * @see MPU6050_RA_I2C_SLV0_ADDR + */ +uint8_t MPU6050::getSlaveAddress(uint8_t num) { + if (num > 3) return 0; + I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer); + return buffer[0]; +} +/** Set the I2C address of the specified slave (0-3). + * @param num Slave number (0-3) + * @param address New address for specified slave + * @see getSlaveAddress() + * @see MPU6050_RA_I2C_SLV0_ADDR + */ +void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) { + if (num > 3) return; + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address); +} +/** Get the active internal register for the specified slave (0-3). + * Read/write operations for this slave will be done to whatever internal + * register address is stored in this MPU register. + * + * The MPU-6050 supports a total of five slaves, but Slave 4 has unique + * characteristics, and so it has its own functions. + * + * @param num Slave number (0-3) + * @return Current active register for specified slave + * @see MPU6050_RA_I2C_SLV0_REG + */ +uint8_t MPU6050::getSlaveRegister(uint8_t num) { + if (num > 3) return 0; + I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer); + return buffer[0]; +} +/** Set the active internal register for the specified slave (0-3). + * @param num Slave number (0-3) + * @param reg New active register for specified slave + * @see getSlaveRegister() + * @see MPU6050_RA_I2C_SLV0_REG + */ +void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) { + if (num > 3) return; + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg); +} +/** Get the enabled value for the specified slave (0-3). + * When set to 1, this bit enables Slave 0 for data transfer operations. When + * cleared to 0, this bit disables Slave 0 from data transfer operations. + * @param num Slave number (0-3) + * @return Current enabled value for specified slave + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +bool MPU6050::getSlaveEnabled(uint8_t num) { + if (num > 3) return 0; + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer); + return buffer[0]; +} +/** Set the enabled value for the specified slave (0-3). + * @param num Slave number (0-3) + * @param enabled New enabled value for specified slave + * @see getSlaveEnabled() + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) { + if (num > 3) return; + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled); +} +/** Get word pair byte-swapping enabled for the specified slave (0-3). + * When set to 1, this bit enables byte swapping. When byte swapping is enabled, + * the high and low bytes of a word pair are swapped. Please refer to + * I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0, + * bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA + * registers in the order they were transferred. + * + * @param num Slave number (0-3) + * @return Current word pair byte-swapping enabled value for specified slave + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +bool MPU6050::getSlaveWordByteSwap(uint8_t num) { + if (num > 3) return 0; + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer); + return buffer[0]; +} +/** Set word pair byte-swapping enabled for the specified slave (0-3). + * @param num Slave number (0-3) + * @param enabled New word pair byte-swapping enabled value for specified slave + * @see getSlaveWordByteSwap() + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) { + if (num > 3) return; + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled); +} +/** Get write mode for the specified slave (0-3). + * When set to 1, the transaction will read or write data only. When cleared to + * 0, the transaction will write a register address prior to reading or writing + * data. This should equal 0 when specifying the register address within the + * Slave device to/from which the ensuing data transaction will take place. + * + * @param num Slave number (0-3) + * @return Current write mode for specified slave (0 = register address + data, 1 = data only) + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +bool MPU6050::getSlaveWriteMode(uint8_t num) { + if (num > 3) return 0; + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer); + return buffer[0]; +} +/** Set write mode for the specified slave (0-3). + * @param num Slave number (0-3) + * @param mode New write mode for specified slave (0 = register address + data, 1 = data only) + * @see getSlaveWriteMode() + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) { + if (num > 3) return; + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode); +} +/** Get word pair grouping order offset for the specified slave (0-3). + * This sets specifies the grouping order of word pairs received from registers. + * When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even, + * then odd register addresses) are paired to form a word. When set to 1, bytes + * from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even + * register addresses) are paired to form a word. + * + * @param num Slave number (0-3) + * @return Current word pair grouping order offset for specified slave + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +bool MPU6050::getSlaveWordGroupOffset(uint8_t num) { + if (num > 3) return 0; + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer); + return buffer[0]; +} +/** Set word pair grouping order offset for the specified slave (0-3). + * @param num Slave number (0-3) + * @param enabled New word pair grouping order offset for specified slave + * @see getSlaveWordGroupOffset() + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) { + if (num > 3) return; + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled); +} +/** Get number of bytes to read for the specified slave (0-3). + * Specifies the number of bytes transferred to and from Slave 0. Clearing this + * bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN. + * @param num Slave number (0-3) + * @return Number of bytes to read for specified slave + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +uint8_t MPU6050::getSlaveDataLength(uint8_t num) { + if (num > 3) return 0; + I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer); + return buffer[0]; +} +/** Set number of bytes to read for the specified slave (0-3). + * @param num Slave number (0-3) + * @param length Number of bytes to read for specified slave + * @see getSlaveDataLength() + * @see MPU6050_RA_I2C_SLV0_CTRL + */ +void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) { + if (num > 3) return; + I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length); +} + +// I2C_SLV* registers (Slave 4) + +/** Get the I2C address of Slave 4. + * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read + * operation, and if it is cleared, then it's a write operation. The remaining + * bits (6-0) are the 7-bit device address of the slave device. + * + * @return Current address for Slave 4 + * @see getSlaveAddress() + * @see MPU6050_RA_I2C_SLV4_ADDR + */ +uint8_t MPU6050::getSlave4Address() { + I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer); + return buffer[0]; +} +/** Set the I2C address of Slave 4. + * @param address New address for Slave 4 + * @see getSlave4Address() + * @see MPU6050_RA_I2C_SLV4_ADDR + */ +void MPU6050::setSlave4Address(uint8_t address) { + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address); +} +/** Get the active internal register for the Slave 4. + * Read/write operations for this slave will be done to whatever internal + * register address is stored in this MPU register. + * + * @return Current active register for Slave 4 + * @see MPU6050_RA_I2C_SLV4_REG + */ +uint8_t MPU6050::getSlave4Register() { + I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer); + return buffer[0]; +} +/** Set the active internal register for Slave 4. + * @param reg New active register for Slave 4 + * @see getSlave4Register() + * @see MPU6050_RA_I2C_SLV4_REG + */ +void MPU6050::setSlave4Register(uint8_t reg) { + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg); +} +/** Set new byte to write to Slave 4. + * This register stores the data to be written into the Slave 4. If I2C_SLV4_RW + * is set 1 (set to read), this register has no effect. + * @param data New byte to write to Slave 4 + * @see MPU6050_RA_I2C_SLV4_DO + */ +void MPU6050::setSlave4OutputByte(uint8_t data) { + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data); +} +/** Get the enabled value for the Slave 4. + * When set to 1, this bit enables Slave 4 for data transfer operations. When + * cleared to 0, this bit disables Slave 4 from data transfer operations. + * @return Current enabled value for Slave 4 + * @see MPU6050_RA_I2C_SLV4_CTRL + */ +bool MPU6050::getSlave4Enabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer); + return buffer[0]; +} +/** Set the enabled value for Slave 4. + * @param enabled New enabled value for Slave 4 + * @see getSlave4Enabled() + * @see MPU6050_RA_I2C_SLV4_CTRL + */ +void MPU6050::setSlave4Enabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled); +} +/** Get the enabled value for Slave 4 transaction interrupts. + * When set to 1, this bit enables the generation of an interrupt signal upon + * completion of a Slave 4 transaction. When cleared to 0, this bit disables the + * generation of an interrupt signal upon completion of a Slave 4 transaction. + * The interrupt status can be observed in Register 54. + * + * @return Current enabled value for Slave 4 transaction interrupts. + * @see MPU6050_RA_I2C_SLV4_CTRL + */ +bool MPU6050::getSlave4InterruptEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer); + return buffer[0]; +} +/** Set the enabled value for Slave 4 transaction interrupts. + * @param enabled New enabled value for Slave 4 transaction interrupts. + * @see getSlave4InterruptEnabled() + * @see MPU6050_RA_I2C_SLV4_CTRL + */ +void MPU6050::setSlave4InterruptEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled); +} +/** Get write mode for Slave 4. + * When set to 1, the transaction will read or write data only. When cleared to + * 0, the transaction will write a register address prior to reading or writing + * data. This should equal 0 when specifying the register address within the + * Slave device to/from which the ensuing data transaction will take place. + * + * @return Current write mode for Slave 4 (0 = register address + data, 1 = data only) + * @see MPU6050_RA_I2C_SLV4_CTRL + */ +bool MPU6050::getSlave4WriteMode() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer); + return buffer[0]; +} +/** Set write mode for the Slave 4. + * @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only) + * @see getSlave4WriteMode() + * @see MPU6050_RA_I2C_SLV4_CTRL + */ +void MPU6050::setSlave4WriteMode(bool mode) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode); +} +/** Get Slave 4 master delay value. + * This configures the reduced access rate of I2C slaves relative to the Sample + * Rate. When a slave's access rate is decreased relative to the Sample Rate, + * the slave is accessed every: + * + * 1 / (1 + I2C_MST_DLY) samples + * + * This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and + * DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to + * the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For + * further information regarding the Sample Rate, please refer to register 25. + * + * @return Current Slave 4 master delay value + * @see MPU6050_RA_I2C_SLV4_CTRL + */ +uint8_t MPU6050::getSlave4MasterDelay() { + I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer); + return buffer[0]; +} +/** Set Slave 4 master delay value. + * @param delay New Slave 4 master delay value + * @see getSlave4MasterDelay() + * @see MPU6050_RA_I2C_SLV4_CTRL + */ +void MPU6050::setSlave4MasterDelay(uint8_t delay) { + I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay); +} +/** Get last available byte read from Slave 4. + * This register stores the data read from Slave 4. This field is populated + * after a read transaction. + * @return Last available byte read from to Slave 4 + * @see MPU6050_RA_I2C_SLV4_DI + */ +uint8_t MPU6050::getSlate4InputByte() { + I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer); + return buffer[0]; +} + +// I2C_MST_STATUS register + +/** Get FSYNC interrupt status. + * This bit reflects the status of the FSYNC interrupt from an external device + * into the MPU-60X0. This is used as a way to pass an external interrupt + * through the MPU-60X0 to the host application processor. When set to 1, this + * bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG + * (Register 55). + * @return FSYNC interrupt status + * @see MPU6050_RA_I2C_MST_STATUS + */ +bool MPU6050::getPassthroughStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer); + return buffer[0]; +} +/** Get Slave 4 transaction done status. + * Automatically sets to 1 when a Slave 4 transaction has completed. This + * triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register + * (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the + * I2C_SLV4_CTRL register (Register 52). + * @return Slave 4 transaction done status + * @see MPU6050_RA_I2C_MST_STATUS + */ +bool MPU6050::getSlave4IsDone() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer); + return buffer[0]; +} +/** Get master arbitration lost status. + * This bit automatically sets to 1 when the I2C Master has lost arbitration of + * the auxiliary I2C bus (an error condition). This triggers an interrupt if the + * I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted. + * @return Master arbitration lost status + * @see MPU6050_RA_I2C_MST_STATUS + */ +bool MPU6050::getLostArbitration() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer); + return buffer[0]; +} +/** Get Slave 4 NACK status. + * This bit automatically sets to 1 when the I2C Master receives a NACK in a + * transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN + * bit in the INT_ENABLE register (Register 56) is asserted. + * @return Slave 4 NACK interrupt status + * @see MPU6050_RA_I2C_MST_STATUS + */ +bool MPU6050::getSlave4Nack() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer); + return buffer[0]; +} +/** Get Slave 3 NACK status. + * This bit automatically sets to 1 when the I2C Master receives a NACK in a + * transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN + * bit in the INT_ENABLE register (Register 56) is asserted. + * @return Slave 3 NACK interrupt status + * @see MPU6050_RA_I2C_MST_STATUS + */ +bool MPU6050::getSlave3Nack() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer); + return buffer[0]; +} +/** Get Slave 2 NACK status. + * This bit automatically sets to 1 when the I2C Master receives a NACK in a + * transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN + * bit in the INT_ENABLE register (Register 56) is asserted. + * @return Slave 2 NACK interrupt status + * @see MPU6050_RA_I2C_MST_STATUS + */ +bool MPU6050::getSlave2Nack() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer); + return buffer[0]; +} +/** Get Slave 1 NACK status. + * This bit automatically sets to 1 when the I2C Master receives a NACK in a + * transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN + * bit in the INT_ENABLE register (Register 56) is asserted. + * @return Slave 1 NACK interrupt status + * @see MPU6050_RA_I2C_MST_STATUS + */ +bool MPU6050::getSlave1Nack() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer); + return buffer[0]; +} +/** Get Slave 0 NACK status. + * This bit automatically sets to 1 when the I2C Master receives a NACK in a + * transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN + * bit in the INT_ENABLE register (Register 56) is asserted. + * @return Slave 0 NACK interrupt status + * @see MPU6050_RA_I2C_MST_STATUS + */ +bool MPU6050::getSlave0Nack() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer); + return buffer[0]; +} + +// INT_PIN_CFG register + +/** Get interrupt logic level mode. + * Will be set 0 for active-high, 1 for active-low. + * @return Current interrupt mode (0=active-high, 1=active-low) + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_INT_LEVEL_BIT + */ +bool MPU6050::getInterruptMode() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer); + return buffer[0]; +} +/** Set interrupt logic level mode. + * @param mode New interrupt mode (0=active-high, 1=active-low) + * @see getInterruptMode() + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_INT_LEVEL_BIT + */ +void MPU6050::setInterruptMode(bool mode) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode); +} +/** Get interrupt drive mode. + * Will be set 0 for push-pull, 1 for open-drain. + * @return Current interrupt drive mode (0=push-pull, 1=open-drain) + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_INT_OPEN_BIT + */ +bool MPU6050::getInterruptDrive() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer); + return buffer[0]; +} +/** Set interrupt drive mode. + * @param drive New interrupt drive mode (0=push-pull, 1=open-drain) + * @see getInterruptDrive() + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_INT_OPEN_BIT + */ +void MPU6050::setInterruptDrive(bool drive) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive); +} +/** Get interrupt latch mode. + * Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared. + * @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared) + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_LATCH_INT_EN_BIT + */ +bool MPU6050::getInterruptLatch() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer); + return buffer[0]; +} +/** Set interrupt latch mode. + * @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared) + * @see getInterruptLatch() + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_LATCH_INT_EN_BIT + */ +void MPU6050::setInterruptLatch(bool latch) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch); +} +/** Get interrupt latch clear mode. + * Will be set 0 for status-read-only, 1 for any-register-read. + * @return Current latch clear mode (0=status-read-only, 1=any-register-read) + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT + */ +bool MPU6050::getInterruptLatchClear() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer); + return buffer[0]; +} +/** Set interrupt latch clear mode. + * @param clear New latch clear mode (0=status-read-only, 1=any-register-read) + * @see getInterruptLatchClear() + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT + */ +void MPU6050::setInterruptLatchClear(bool clear) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear); +} +/** Get FSYNC interrupt logic level mode. + * @return Current FSYNC interrupt mode (0=active-high, 1=active-low) + * @see getFSyncInterruptMode() + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT + */ +bool MPU6050::getFSyncInterruptLevel() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer); + return buffer[0]; +} +/** Set FSYNC interrupt logic level mode. + * @param mode New FSYNC interrupt mode (0=active-high, 1=active-low) + * @see getFSyncInterruptMode() + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT + */ +void MPU6050::setFSyncInterruptLevel(bool level) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level); +} +/** Get FSYNC pin interrupt enabled setting. + * Will be set 0 for disabled, 1 for enabled. + * @return Current interrupt enabled setting + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT + */ +bool MPU6050::getFSyncInterruptEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer); + return buffer[0]; +} +/** Set FSYNC pin interrupt enabled setting. + * @param enabled New FSYNC pin interrupt enabled setting + * @see getFSyncInterruptEnabled() + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT + */ +void MPU6050::setFSyncInterruptEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled); +} +/** Get I2C bypass enabled status. + * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to + * 0, the host application processor will be able to directly access the + * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host + * application processor will not be able to directly access the auxiliary I2C + * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106 + * bit[5]). + * @return Current I2C bypass enabled status + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT + */ +bool MPU6050::getI2CBypassEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer); + return buffer[0]; +} +/** Set I2C bypass enabled status. + * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to + * 0, the host application processor will be able to directly access the + * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host + * application processor will not be able to directly access the auxiliary I2C + * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106 + * bit[5]). + * @param enabled New I2C bypass enabled status + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT + */ +void MPU6050::setI2CBypassEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled); +} +/** Get reference clock output enabled status. + * When this bit is equal to 1, a reference clock output is provided at the + * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For + * further information regarding CLKOUT, please refer to the MPU-60X0 Product + * Specification document. + * @return Current reference clock output enabled status + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_CLKOUT_EN_BIT + */ +bool MPU6050::getClockOutputEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer); + return buffer[0]; +} +/** Set reference clock output enabled status. + * When this bit is equal to 1, a reference clock output is provided at the + * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For + * further information regarding CLKOUT, please refer to the MPU-60X0 Product + * Specification document. + * @param enabled New reference clock output enabled status + * @see MPU6050_RA_INT_PIN_CFG + * @see MPU6050_INTCFG_CLKOUT_EN_BIT + */ +void MPU6050::setClockOutputEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled); +} + +// INT_ENABLE register + +/** Get full interrupt enabled status. + * Full register byte for all interrupts, for quick reading. Each bit will be + * set 0 for disabled, 1 for enabled. + * @return Current interrupt enabled status + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_FF_BIT + **/ +uint8_t MPU6050::getIntEnabled() { + I2Cdev::readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer); + return buffer[0]; +} +/** Set full interrupt enabled status. + * Full register byte for all interrupts, for quick reading. Each bit should be + * set 0 for disabled, 1 for enabled. + * @param enabled New interrupt enabled status + * @see getIntFreefallEnabled() + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_FF_BIT + **/ +void MPU6050::setIntEnabled(uint8_t enabled) { + I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled); +} +/** Get Free Fall interrupt enabled status. + * Will be set 0 for disabled, 1 for enabled. + * @return Current interrupt enabled status + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_FF_BIT + **/ +bool MPU6050::getIntFreefallEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer); + return buffer[0]; +} +/** Set Free Fall interrupt enabled status. + * @param enabled New interrupt enabled status + * @see getIntFreefallEnabled() + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_FF_BIT + **/ +void MPU6050::setIntFreefallEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled); +} +/** Get Motion Detection interrupt enabled status. + * Will be set 0 for disabled, 1 for enabled. + * @return Current interrupt enabled status + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_MOT_BIT + **/ +bool MPU6050::getIntMotionEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer); + return buffer[0]; +} +/** Set Motion Detection interrupt enabled status. + * @param enabled New interrupt enabled status + * @see getIntMotionEnabled() + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_MOT_BIT + **/ +void MPU6050::setIntMotionEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled); +} +/** Get Zero Motion Detection interrupt enabled status. + * Will be set 0 for disabled, 1 for enabled. + * @return Current interrupt enabled status + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_ZMOT_BIT + **/ +bool MPU6050::getIntZeroMotionEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer); + return buffer[0]; +} +/** Set Zero Motion Detection interrupt enabled status. + * @param enabled New interrupt enabled status + * @see getIntZeroMotionEnabled() + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_ZMOT_BIT + **/ +void MPU6050::setIntZeroMotionEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled); +} +/** Get FIFO Buffer Overflow interrupt enabled status. + * Will be set 0 for disabled, 1 for enabled. + * @return Current interrupt enabled status + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT + **/ +bool MPU6050::getIntFIFOBufferOverflowEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer); + return buffer[0]; +} +/** Set FIFO Buffer Overflow interrupt enabled status. + * @param enabled New interrupt enabled status + * @see getIntFIFOBufferOverflowEnabled() + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT + **/ +void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled); +} +/** Get I2C Master interrupt enabled status. + * This enables any of the I2C Master interrupt sources to generate an + * interrupt. Will be set 0 for disabled, 1 for enabled. + * @return Current interrupt enabled status + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT + **/ +bool MPU6050::getIntI2CMasterEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer); + return buffer[0]; +} +/** Set I2C Master interrupt enabled status. + * @param enabled New interrupt enabled status + * @see getIntI2CMasterEnabled() + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT + **/ +void MPU6050::setIntI2CMasterEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled); +} +/** Get Data Ready interrupt enabled setting. + * This event occurs each time a write operation to all of the sensor registers + * has been completed. Will be set 0 for disabled, 1 for enabled. + * @return Current interrupt enabled status + * @see MPU6050_RA_INT_ENABLE + * @see MPU6050_INTERRUPT_DATA_RDY_BIT + */ +bool MPU6050::getIntDataReadyEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer); + return buffer[0]; +} +/** Set Data Ready interrupt enabled status. + * @param enabled New interrupt enabled status + * @see getIntDataReadyEnabled() + * @see MPU6050_RA_INT_CFG + * @see MPU6050_INTERRUPT_DATA_RDY_BIT + */ +void MPU6050::setIntDataReadyEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled); +} + +// INT_STATUS register + +/** Get full set of interrupt status bits. + * These bits clear to 0 after the register has been read. Very useful + * for getting multiple INT statuses, since each single bit read clears + * all of them because it has to read the whole byte. + * @return Current interrupt status + * @see MPU6050_RA_INT_STATUS + */ +uint8_t MPU6050::getIntStatus() { + I2Cdev::readByte(devAddr, MPU6050_RA_INT_STATUS, buffer); + return buffer[0]; +} +/** Get Free Fall interrupt status. + * This bit automatically sets to 1 when a Free Fall interrupt has been + * generated. The bit clears to 0 after the register has been read. + * @return Current interrupt status + * @see MPU6050_RA_INT_STATUS + * @see MPU6050_INTERRUPT_FF_BIT + */ +bool MPU6050::getIntFreefallStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer); + return buffer[0]; +} +/** Get Motion Detection interrupt status. + * This bit automatically sets to 1 when a Motion Detection interrupt has been + * generated. The bit clears to 0 after the register has been read. + * @return Current interrupt status + * @see MPU6050_RA_INT_STATUS + * @see MPU6050_INTERRUPT_MOT_BIT + */ +bool MPU6050::getIntMotionStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer); + return buffer[0]; +} +/** Get Zero Motion Detection interrupt status. + * This bit automatically sets to 1 when a Zero Motion Detection interrupt has + * been generated. The bit clears to 0 after the register has been read. + * @return Current interrupt status + * @see MPU6050_RA_INT_STATUS + * @see MPU6050_INTERRUPT_ZMOT_BIT + */ +bool MPU6050::getIntZeroMotionStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer); + return buffer[0]; +} +/** Get FIFO Buffer Overflow interrupt status. + * This bit automatically sets to 1 when a Free Fall interrupt has been + * generated. The bit clears to 0 after the register has been read. + * @return Current interrupt status + * @see MPU6050_RA_INT_STATUS + * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT + */ +bool MPU6050::getIntFIFOBufferOverflowStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer); + return buffer[0]; +} +/** Get I2C Master interrupt status. + * This bit automatically sets to 1 when an I2C Master interrupt has been + * generated. For a list of I2C Master interrupts, please refer to Register 54. + * The bit clears to 0 after the register has been read. + * @return Current interrupt status + * @see MPU6050_RA_INT_STATUS + * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT + */ +bool MPU6050::getIntI2CMasterStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer); + return buffer[0]; +} +/** Get Data Ready interrupt status. + * This bit automatically sets to 1 when a Data Ready interrupt has been + * generated. The bit clears to 0 after the register has been read. + * @return Current interrupt status + * @see MPU6050_RA_INT_STATUS + * @see MPU6050_INTERRUPT_DATA_RDY_BIT + */ +bool MPU6050::getIntDataReadyStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer); + return buffer[0]; +} + +// ACCEL_*OUT_* registers + +/** Get raw 9-axis motion sensor readings (accel/gyro/compass). + * FUNCTION NOT FULLY IMPLEMENTED YET. + * @param ax 16-bit signed integer container for accelerometer X-axis value + * @param ay 16-bit signed integer container for accelerometer Y-axis value + * @param az 16-bit signed integer container for accelerometer Z-axis value + * @param gx 16-bit signed integer container for gyroscope X-axis value + * @param gy 16-bit signed integer container for gyroscope Y-axis value + * @param gz 16-bit signed integer container for gyroscope Z-axis value + * @param mx 16-bit signed integer container for magnetometer X-axis value + * @param my 16-bit signed integer container for magnetometer Y-axis value + * @param mz 16-bit signed integer container for magnetometer Z-axis value + * @see getMotion6() + * @see getAcceleration() + * @see getRotation() + * @see MPU6050_RA_ACCEL_XOUT_H + */ +void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz) { + + //get accel and gyro + getMotion6(ax, ay, az, gx, gy, gz); + + //read mag + I2Cdev::writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer + delay(10); + I2Cdev::writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); //enable the magnetometer + delay(10); + I2Cdev::readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer); + *mx = (((int16_t)buffer[1]) << 8) | buffer[0]; + *my = (((int16_t)buffer[3]) << 8) | buffer[2]; + *mz = (((int16_t)buffer[5]) << 8) | buffer[4]; +} + +void MPU6050::getMag(int16_t* mx, int16_t* my, int16_t* mz) { + + //read mag + I2Cdev::writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer + delay(10); + I2Cdev::writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); //enable the magnetometer + delay(10); + I2Cdev::readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer); + *mx = (((int16_t)buffer[1]) << 8) | buffer[0]; + *my = (((int16_t)buffer[3]) << 8) | buffer[2]; + *mz = (((int16_t)buffer[5]) << 8) | buffer[4]; +} +/** Get raw 6-axis motion sensor readings (accel/gyro). + * Retrieves all currently available motion sensor values. + * @param ax 16-bit signed integer container for accelerometer X-axis value + * @param ay 16-bit signed integer container for accelerometer Y-axis value + * @param az 16-bit signed integer container for accelerometer Z-axis value + * @param gx 16-bit signed integer container for gyroscope X-axis value + * @param gy 16-bit signed integer container for gyroscope Y-axis value + * @param gz 16-bit signed integer container for gyroscope Z-axis value + * @see getAcceleration() + * @see getRotation() + * @see MPU6050_RA_ACCEL_XOUT_H + */ +void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) { + I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer); + *ax = (((int16_t)buffer[0]) << 8) | buffer[1]; + *ay = (((int16_t)buffer[2]) << 8) | buffer[3]; + *az = (((int16_t)buffer[4]) << 8) | buffer[5]; + *gx = (((int16_t)buffer[8]) << 8) | buffer[9]; + *gy = (((int16_t)buffer[10]) << 8) | buffer[11]; + *gz = (((int16_t)buffer[12]) << 8) | buffer[13]; +} +/** Get 3-axis accelerometer readings. + * These registers store the most recent accelerometer measurements. + * Accelerometer measurements are written to these registers at the Sample Rate + * as defined in Register 25. + * + * The accelerometer measurement registers, along with the temperature + * measurement registers, gyroscope measurement registers, and external sensor + * data registers, are composed of two sets of registers: an internal register + * set and a user-facing read register set. + * + * The data within the accelerometer sensors' internal register set is always + * updated at the Sample Rate. Meanwhile, the user-facing read register set + * duplicates the internal register set's data values whenever the serial + * interface is idle. This guarantees that a burst read of sensor registers will + * read measurements from the same sampling instant. Note that if burst reads + * are not used, the user is responsible for ensuring a set of single byte reads + * correspond to a single sampling instant by checking the Data Ready interrupt. + * + * Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS + * (Register 28). For each full scale setting, the accelerometers' sensitivity + * per LSB in ACCEL_xOUT is shown in the table below: + * + * 
+ * AFS_SEL | Full Scale Range | LSB Sensitivity
+ * --------+------------------+----------------
+ * 0       | +/- 2g           | 8192 LSB/mg
+ * 1       | +/- 4g           | 4096 LSB/mg
+ * 2       | +/- 8g           | 2048 LSB/mg
+ * 3       | +/- 16g          | 1024 LSB/mg
+ *
+ * + * @param x 16-bit signed integer container for X-axis acceleration + * @param y 16-bit signed integer container for Y-axis acceleration + * @param z 16-bit signed integer container for Z-axis acceleration + * @see MPU6050_RA_GYRO_XOUT_H + */ +void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z) { + I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer); + *x = (((int16_t)buffer[0]) << 8) | buffer[1]; + *y = (((int16_t)buffer[2]) << 8) | buffer[3]; + *z = (((int16_t)buffer[4]) << 8) | buffer[5]; +} +/** Get X-axis accelerometer reading. + * @return X-axis acceleration measurement in 16-bit 2's complement format + * @see getMotion6() + * @see MPU6050_RA_ACCEL_XOUT_H + */ +int16_t MPU6050::getAccelerationX() { + I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} +/** Get Y-axis accelerometer reading. + * @return Y-axis acceleration measurement in 16-bit 2's complement format + * @see getMotion6() + * @see MPU6050_RA_ACCEL_YOUT_H + */ +int16_t MPU6050::getAccelerationY() { + I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} +/** Get Z-axis accelerometer reading. + * @return Z-axis acceleration measurement in 16-bit 2's complement format + * @see getMotion6() + * @see MPU6050_RA_ACCEL_ZOUT_H + */ +int16_t MPU6050::getAccelerationZ() { + I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} + +// TEMP_OUT_* registers + +/** Get current internal temperature. + * @return Temperature reading in 16-bit 2's complement format + * @see MPU6050_RA_TEMP_OUT_H + */ +int16_t MPU6050::getTemperature() { + I2Cdev::readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} + +// GYRO_*OUT_* registers + +/** Get 3-axis gyroscope readings. + * These gyroscope measurement registers, along with the accelerometer + * measurement registers, temperature measurement registers, and external sensor + * data registers, are composed of two sets of registers: an internal register + * set and a user-facing read register set. + * The data within the gyroscope sensors' internal register set is always + * updated at the Sample Rate. Meanwhile, the user-facing read register set + * duplicates the internal register set's data values whenever the serial + * interface is idle. This guarantees that a burst read of sensor registers will + * read measurements from the same sampling instant. Note that if burst reads + * are not used, the user is responsible for ensuring a set of single byte reads + * correspond to a single sampling instant by checking the Data Ready interrupt. + * + * Each 16-bit gyroscope measurement has a full scale defined in FS_SEL + * (Register 27). For each full scale setting, the gyroscopes' sensitivity per + * LSB in GYRO_xOUT is shown in the table below: + * + * 
+ * 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
+ *
+ * + * @param x 16-bit signed integer container for X-axis rotation + * @param y 16-bit signed integer container for Y-axis rotation + * @param z 16-bit signed integer container for Z-axis rotation + * @see getMotion6() + * @see MPU6050_RA_GYRO_XOUT_H + */ +void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z) { + I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer); + *x = (((int16_t)buffer[0]) << 8) | buffer[1]; + *y = (((int16_t)buffer[2]) << 8) | buffer[3]; + *z = (((int16_t)buffer[4]) << 8) | buffer[5]; +} +/** Get X-axis gyroscope reading. + * @return X-axis rotation measurement in 16-bit 2's complement format + * @see getMotion6() + * @see MPU6050_RA_GYRO_XOUT_H + */ +int16_t MPU6050::getRotationX() { + I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} +/** Get Y-axis gyroscope reading. + * @return Y-axis rotation measurement in 16-bit 2's complement format + * @see getMotion6() + * @see MPU6050_RA_GYRO_YOUT_H + */ +int16_t MPU6050::getRotationY() { + I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} +/** Get Z-axis gyroscope reading. + * @return Z-axis rotation measurement in 16-bit 2's complement format + * @see getMotion6() + * @see MPU6050_RA_GYRO_ZOUT_H + */ +int16_t MPU6050::getRotationZ() { + I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer); + return (((int16_t)buffer[0]) << 8) | buffer[1]; +} + +// EXT_SENS_DATA_* registers + +/** Read single byte from external sensor data register. + * These registers store data read from external sensors by the Slave 0, 1, 2, + * and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in + * I2C_SLV4_DI (Register 53). + * + * External sensor data is written to these registers at the Sample Rate as + * defined in Register 25. This access rate can be reduced by using the Slave + * Delay Enable registers (Register 103). + * + * External sensor data registers, along with the gyroscope measurement + * registers, accelerometer measurement registers, and temperature measurement + * registers, are composed of two sets of registers: an internal register set + * and a user-facing read register set. + * + * The data within the external sensors' internal register set is always updated + * at the Sample Rate (or the reduced access rate) whenever the serial interface + * is idle. This guarantees that a burst read of sensor registers will read + * measurements from the same sampling instant. Note that if burst reads are not + * used, the user is responsible for ensuring a set of single byte reads + * correspond to a single sampling instant by checking the Data Ready interrupt. + * + * Data is placed in these external sensor data registers according to + * I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39, + * 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from + * an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as + * defined in Register 25) or delayed rate (if specified in Register 52 and + * 103). During each Sample cycle, slave reads are performed in order of Slave + * number. If all slaves are enabled with more than zero bytes to be read, the + * order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3. + * + * Each enabled slave will have EXT_SENS_DATA registers associated with it by + * number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from + * EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may + * change the higher numbered slaves' associated registers. Furthermore, if + * fewer total bytes are being read from the external sensors as a result of + * such a change, then the data remaining in the registers which no longer have + * an associated slave device (i.e. high numbered registers) will remain in + * these previously allocated registers unless reset. + * + * If the sum of the read lengths of all SLVx transactions exceed the number of + * available EXT_SENS_DATA registers, the excess bytes will be dropped. There + * are 24 EXT_SENS_DATA registers and hence the total read lengths between all + * the slaves cannot be greater than 24 or some bytes will be lost. + * + * Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further + * information regarding the characteristics of Slave 4, please refer to + * Registers 49 to 53. + * + * EXAMPLE: + * Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and + * I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that + * I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00 + * through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05 + * will be associated with Slave 1. If Slave 2 is enabled as well, registers + * starting from EXT_SENS_DATA_06 will be allocated to Slave 2. + * + * If Slave 2 is disabled while Slave 3 is enabled in this same situation, then + * registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3 + * instead. + * + * REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE: + * If a slave is disabled at any time, the space initially allocated to the + * slave in the EXT_SENS_DATA register, will remain associated with that slave. + * This is to avoid dynamic adjustment of the register allocation. + * + * The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all + * slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106). + * + * This above is also true if one of the slaves gets NACKed and stops + * functioning. + * + * @param position Starting position (0-23) + * @return Byte read from register + */ +uint8_t MPU6050::getExternalSensorByte(int position) { + I2Cdev::readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer); + return buffer[0]; +} +/** Read word (2 bytes) from external sensor data registers. + * @param position Starting position (0-21) + * @return Word read from register + * @see getExternalSensorByte() + */ +uint16_t MPU6050::getExternalSensorWord(int position) { + I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer); + return (((uint16_t)buffer[0]) << 8) | buffer[1]; +} +/** Read double word (4 bytes) from external sensor data registers. + * @param position Starting position (0-20) + * @return Double word read from registers + * @see getExternalSensorByte() + */ +uint32_t MPU6050::getExternalSensorDWord(int position) { + I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer); + return (((uint32_t)buffer[0]) << 24) | (((uint32_t)buffer[1]) << 16) | (((uint16_t)buffer[2]) << 8) | buffer[3]; +} + +// MOT_DETECT_STATUS register + +/** Get X-axis negative motion detection interrupt status. + * @return Motion detection status + * @see MPU6050_RA_MOT_DETECT_STATUS + * @see MPU6050_MOTION_MOT_XNEG_BIT + */ +bool MPU6050::getXNegMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer); + return buffer[0]; +} +/** Get X-axis positive motion detection interrupt status. + * @return Motion detection status + * @see MPU6050_RA_MOT_DETECT_STATUS + * @see MPU6050_MOTION_MOT_XPOS_BIT + */ +bool MPU6050::getXPosMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer); + return buffer[0]; +} +/** Get Y-axis negative motion detection interrupt status. + * @return Motion detection status + * @see MPU6050_RA_MOT_DETECT_STATUS + * @see MPU6050_MOTION_MOT_YNEG_BIT + */ +bool MPU6050::getYNegMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer); + return buffer[0]; +} +/** Get Y-axis positive motion detection interrupt status. + * @return Motion detection status + * @see MPU6050_RA_MOT_DETECT_STATUS + * @see MPU6050_MOTION_MOT_YPOS_BIT + */ +bool MPU6050::getYPosMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer); + return buffer[0]; +} +/** Get Z-axis negative motion detection interrupt status. + * @return Motion detection status + * @see MPU6050_RA_MOT_DETECT_STATUS + * @see MPU6050_MOTION_MOT_ZNEG_BIT + */ +bool MPU6050::getZNegMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer); + return buffer[0]; +} +/** Get Z-axis positive motion detection interrupt status. + * @return Motion detection status + * @see MPU6050_RA_MOT_DETECT_STATUS + * @see MPU6050_MOTION_MOT_ZPOS_BIT + */ +bool MPU6050::getZPosMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer); + return buffer[0]; +} +/** Get zero motion detection interrupt status. + * @return Motion detection status + * @see MPU6050_RA_MOT_DETECT_STATUS + * @see MPU6050_MOTION_MOT_ZRMOT_BIT + */ +bool MPU6050::getZeroMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer); + return buffer[0]; +} + +// I2C_SLV*_DO register + +/** Write byte to Data Output container for specified slave. + * This register holds the output data written into Slave when Slave is set to + * write mode. For further information regarding Slave control, please + * refer to Registers 37 to 39 and immediately following. + * @param num Slave number (0-3) + * @param data Byte to write + * @see MPU6050_RA_I2C_SLV0_DO + */ +void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data) { + if (num > 3) return; + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data); +} + +// I2C_MST_DELAY_CTRL register + +/** Get external data shadow delay enabled status. + * This register is used to specify the timing of external sensor data + * shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external + * sensor data is delayed until all data has been received. + * @return Current external data shadow delay enabled status. + * @see MPU6050_RA_I2C_MST_DELAY_CTRL + * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT + */ +bool MPU6050::getExternalShadowDelayEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer); + return buffer[0]; +} +/** Set external data shadow delay enabled status. + * @param enabled New external data shadow delay enabled status. + * @see getExternalShadowDelayEnabled() + * @see MPU6050_RA_I2C_MST_DELAY_CTRL + * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT + */ +void MPU6050::setExternalShadowDelayEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled); +} +/** Get slave delay enabled status. + * When a particular slave delay is enabled, the rate of access for the that + * slave device is reduced. When a slave's access rate is decreased relative to + * the Sample Rate, the slave is accessed every: + * + * 1 / (1 + I2C_MST_DLY) Samples + * + * This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25) + * and DLPF_CFG (register 26). + * + * For further information regarding I2C_MST_DLY, please refer to register 52. + * For further information regarding the Sample Rate, please refer to register 25. + * + * @param num Slave number (0-4) + * @return Current slave delay enabled status. + * @see MPU6050_RA_I2C_MST_DELAY_CTRL + * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT + */ +bool MPU6050::getSlaveDelayEnabled(uint8_t num) { + // MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc. + if (num > 4) return 0; + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer); + return buffer[0]; +} +/** Set slave delay enabled status. + * @param num Slave number (0-4) + * @param enabled New slave delay enabled status. + * @see MPU6050_RA_I2C_MST_DELAY_CTRL + * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT + */ +void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled); +} + +// SIGNAL_PATH_RESET register + +/** Reset gyroscope signal path. + * The reset will revert the signal path analog to digital converters and + * filters to their power up configurations. + * @see MPU6050_RA_SIGNAL_PATH_RESET + * @see MPU6050_PATHRESET_GYRO_RESET_BIT + */ +void MPU6050::resetGyroscopePath() { + I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true); +} +/** Reset accelerometer signal path. + * The reset will revert the signal path analog to digital converters and + * filters to their power up configurations. + * @see MPU6050_RA_SIGNAL_PATH_RESET + * @see MPU6050_PATHRESET_ACCEL_RESET_BIT + */ +void MPU6050::resetAccelerometerPath() { + I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true); +} +/** Reset temperature sensor signal path. + * The reset will revert the signal path analog to digital converters and + * filters to their power up configurations. + * @see MPU6050_RA_SIGNAL_PATH_RESET + * @see MPU6050_PATHRESET_TEMP_RESET_BIT + */ +void MPU6050::resetTemperaturePath() { + I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true); +} + +// MOT_DETECT_CTRL register + +/** Get accelerometer power-on delay. + * The accelerometer data path provides samples to the sensor registers, Motion + * detection, Zero Motion detection, and Free Fall detection modules. The + * signal path contains filters which must be flushed on wake-up with new + * samples before the detection modules begin operations. The default wake-up + * delay, of 4ms can be lengthened by up to 3ms. This additional delay is + * specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select + * any value above zero unless instructed otherwise by InvenSense. Please refer + * to Section 8 of the MPU-6000/MPU-6050 Product Specification document for + * further information regarding the detection modules. + * @return Current accelerometer power-on delay + * @see MPU6050_RA_MOT_DETECT_CTRL + * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT + */ +uint8_t MPU6050::getAccelerometerPowerOnDelay() { + I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer); + return buffer[0]; +} +/** Set accelerometer power-on delay. + * @param delay New accelerometer power-on delay (0-3) + * @see getAccelerometerPowerOnDelay() + * @see MPU6050_RA_MOT_DETECT_CTRL + * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT + */ +void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay) { + I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay); +} +/** Get Free Fall detection counter decrement configuration. + * Detection is registered by the Free Fall detection module after accelerometer + * measurements meet their respective threshold conditions over a specified + * number of samples. When the threshold conditions are met, the corresponding + * detection counter increments by 1. The user may control the rate at which the + * detection counter decrements when the threshold condition is not met by + * configuring FF_COUNT. The decrement rate can be set according to the + * following table: + * + * 
+ * FF_COUNT | Counter Decrement
+ * ---------+------------------
+ * 0        | Reset
+ * 1        | 1
+ * 2        | 2
+ * 3        | 4
+ *
+ * + * When FF_COUNT is configured to 0 (reset), any non-qualifying sample will + * reset the counter to 0. For further information on Free Fall detection, + * please refer to Registers 29 to 32. + * + * @return Current decrement configuration + * @see MPU6050_RA_MOT_DETECT_CTRL + * @see MPU6050_DETECT_FF_COUNT_BIT + */ +uint8_t MPU6050::getFreefallDetectionCounterDecrement() { + I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer); + return buffer[0]; +} +/** Set Free Fall detection counter decrement configuration. + * @param decrement New decrement configuration value + * @see getFreefallDetectionCounterDecrement() + * @see MPU6050_RA_MOT_DETECT_CTRL + * @see MPU6050_DETECT_FF_COUNT_BIT + */ +void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement) { + I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement); +} +/** Get Motion detection counter decrement configuration. + * Detection is registered by the Motion detection module after accelerometer + * measurements meet their respective threshold conditions over a specified + * number of samples. When the threshold conditions are met, the corresponding + * detection counter increments by 1. The user may control the rate at which the + * detection counter decrements when the threshold condition is not met by + * configuring MOT_COUNT. The decrement rate can be set according to the + * following table: + * + * 
+ * MOT_COUNT | Counter Decrement
+ * ----------+------------------
+ * 0         | Reset
+ * 1         | 1
+ * 2         | 2
+ * 3         | 4
+ *
+ * + * When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will + * reset the counter to 0. For further information on Motion detection, + * please refer to Registers 29 to 32. + * + */ +uint8_t MPU6050::getMotionDetectionCounterDecrement() { + I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer); + return buffer[0]; +} +/** Set Motion detection counter decrement configuration. + * @param decrement New decrement configuration value + * @see getMotionDetectionCounterDecrement() + * @see MPU6050_RA_MOT_DETECT_CTRL + * @see MPU6050_DETECT_MOT_COUNT_BIT + */ +void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement) { + I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement); +} + +// USER_CTRL register + +/** Get FIFO enabled status. + * When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer + * cannot be written to or read from while disabled. The FIFO buffer's state + * does not change unless the MPU-60X0 is power cycled. + * @return Current FIFO enabled status + * @see MPU6050_RA_USER_CTRL + * @see MPU6050_USERCTRL_FIFO_EN_BIT + */ +bool MPU6050::getFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer); + return buffer[0]; +} +/** Set FIFO enabled status. + * @param enabled New FIFO enabled status + * @see getFIFOEnabled() + * @see MPU6050_RA_USER_CTRL + * @see MPU6050_USERCTRL_FIFO_EN_BIT + */ +void MPU6050::setFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled); +} +/** Get I2C Master Mode enabled status. + * When this mode is enabled, the MPU-60X0 acts as the I2C Master to the + * external sensor slave devices on the auxiliary I2C bus. When this bit is + * cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically + * driven by the primary I2C bus (SDA and SCL). This is a precondition to + * enabling Bypass Mode. For further information regarding Bypass Mode, please + * refer to Register 55. + * @return Current I2C Master Mode enabled status + * @see MPU6050_RA_USER_CTRL + * @see MPU6050_USERCTRL_I2C_MST_EN_BIT + */ +bool MPU6050::getI2CMasterModeEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer); + return buffer[0]; +} +/** Set I2C Master Mode enabled status. + * @param enabled New I2C Master Mode enabled status + * @see getI2CMasterModeEnabled() + * @see MPU6050_RA_USER_CTRL + * @see MPU6050_USERCTRL_I2C_MST_EN_BIT + */ +void MPU6050::setI2CMasterModeEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled); +} +/** Switch from I2C to SPI mode (MPU-6000 only) + * If this is set, the primary SPI interface will be enabled in place of the + * disabled primary I2C interface. + */ +void MPU6050::switchSPIEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled); +} +/** Reset the FIFO. + * This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This + * bit automatically clears to 0 after the reset has been triggered. + * @see MPU6050_RA_USER_CTRL + * @see MPU6050_USERCTRL_FIFO_RESET_BIT + */ +void MPU6050::resetFIFO() { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true); +} +/** Reset the I2C Master. + * This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0. + * This bit automatically clears to 0 after the reset has been triggered. + * @see MPU6050_RA_USER_CTRL + * @see MPU6050_USERCTRL_I2C_MST_RESET_BIT + */ +void MPU6050::resetI2CMaster() { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true); +} +/** Reset all sensor registers and signal paths. + * When set to 1, this bit resets the signal paths for all sensors (gyroscopes, + * accelerometers, and temperature sensor). This operation will also clear the + * sensor registers. This bit automatically clears to 0 after the reset has been + * triggered. + * + * When resetting only the signal path (and not the sensor registers), please + * use Register 104, SIGNAL_PATH_RESET. + * + * @see MPU6050_RA_USER_CTRL + * @see MPU6050_USERCTRL_SIG_COND_RESET_BIT + */ +void MPU6050::resetSensors() { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true); +} + +// PWR_MGMT_1 register + +/** Trigger a full device reset. + * A small delay of ~50ms may be desirable after triggering a reset. + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_DEVICE_RESET_BIT + */ +void MPU6050::reset() { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true); +} +/** Get sleep mode status. + * Setting the SLEEP bit in the register puts the device into very low power + * sleep mode. In this mode, only the serial interface and internal registers + * remain active, allowing for a very low standby current. Clearing this bit + * puts the device back into normal mode. To save power, the individual standby + * selections for each of the gyros should be used if any gyro axis is not used + * by the application. + * @return Current sleep mode enabled status + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_SLEEP_BIT + */ +bool MPU6050::getSleepEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer); + return buffer[0]; +} +/** Set sleep mode status. + * @param enabled New sleep mode enabled status + * @see getSleepEnabled() + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_SLEEP_BIT + */ +void MPU6050::setSleepEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled); +} +/** Get wake cycle enabled status. + * When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle + * between sleep mode and waking up to take a single sample of data from active + * sensors at a rate determined by LP_WAKE_CTRL (register 108). + * @return Current sleep mode enabled status + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_CYCLE_BIT + */ +bool MPU6050::getWakeCycleEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer); + return buffer[0]; +} +/** Set wake cycle enabled status. + * @param enabled New sleep mode enabled status + * @see getWakeCycleEnabled() + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_CYCLE_BIT + */ +void MPU6050::setWakeCycleEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled); +} +/** Get temperature sensor enabled status. + * Control the usage of the internal temperature sensor. + * + * Note: this register stores the *disabled* value, but for consistency with the + * rest of the code, the function is named and used with standard true/false + * values to indicate whether the sensor is enabled or disabled, respectively. + * + * @return Current temperature sensor enabled status + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_TEMP_DIS_BIT + */ +bool MPU6050::getTempSensorEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer); + return buffer[0] == 0; // 1 is actually disabled here +} +/** Set temperature sensor enabled status. + * Note: this register stores the *disabled* value, but for consistency with the + * rest of the code, the function is named and used with standard true/false + * values to indicate whether the sensor is enabled or disabled, respectively. + * + * @param enabled New temperature sensor enabled status + * @see getTempSensorEnabled() + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_TEMP_DIS_BIT + */ +void MPU6050::setTempSensorEnabled(bool enabled) { + // 1 is actually disabled here + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled); +} +/** Get clock source setting. + * @return Current clock source setting + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_CLKSEL_BIT + * @see MPU6050_PWR1_CLKSEL_LENGTH + */ +uint8_t MPU6050::getClockSource() { + I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer); + return buffer[0]; +} +/** Set clock source setting. + * An internal 8MHz oscillator, gyroscope based clock, or external sources can + * be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator + * or an external source is chosen as the clock source, the MPU-60X0 can operate + * in low power modes with the gyroscopes disabled. + * + * Upon power up, the MPU-60X0 clock source defaults to the internal oscillator. + * However, it is highly recommended that the device be configured to use one of + * the gyroscopes (or an external clock source) as the clock reference for + * improved stability. The clock source can be selected according to the following table: + * + * 
+ * CLK_SEL | Clock Source
+ * --------+--------------------------------------
+ * 0       | Internal oscillator
+ * 1       | PLL with X Gyro reference
+ * 2       | PLL with Y Gyro reference
+ * 3       | PLL with Z Gyro reference
+ * 4       | PLL with external 32.768kHz reference
+ * 5       | PLL with external 19.2MHz reference
+ * 6       | Reserved
+ * 7       | Stops the clock and keeps the timing generator in reset
+ *
+ * + * @param source New clock source setting + * @see getClockSource() + * @see MPU6050_RA_PWR_MGMT_1 + * @see MPU6050_PWR1_CLKSEL_BIT + * @see MPU6050_PWR1_CLKSEL_LENGTH + */ +void MPU6050::setClockSource(uint8_t source) { + I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source); +} + +// PWR_MGMT_2 register + +/** Get wake frequency in Accel-Only Low Power Mode. + * The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting + * PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode, + * the device will power off all devices except for the primary I2C interface, + * waking only the accelerometer at fixed intervals to take a single + * measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL + * as shown below: + * + * 
+ * LP_WAKE_CTRL | Wake-up Frequency
+ * -------------+------------------
+ * 0            | 1.25 Hz
+ * 1            | 2.5 Hz
+ * 2            | 5 Hz
+ * 3            | 10 Hz
+ * 
+ *
+ * For further information regarding the MPU-60X0's power modes, please refer to
+ * Register 107.
+ *
+ * @return Current wake frequency
+ * @see MPU6050_RA_PWR_MGMT_2
+ */
+uint8_t MPU6050::getWakeFrequency() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set wake frequency in Accel-Only Low Power Mode.
+ * @param frequency New wake frequency
+ * @see MPU6050_RA_PWR_MGMT_2
+ */
+void MPU6050::setWakeFrequency(uint8_t frequency) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
+}
+
+/** Get X-axis accelerometer standby enabled status.
+ * If enabled, the X-axis will not gather or report data (or use power).
+ * @return Current X-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_XA_BIT
+ */
+bool MPU6050::getStandbyXAccelEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
+    return buffer[0];
+}
+/** Set X-axis accelerometer standby enabled status.
+ * @param New X-axis standby enabled status
+ * @see getStandbyXAccelEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_XA_BIT
+ */
+void MPU6050::setStandbyXAccelEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
+}
+/** Get Y-axis accelerometer standby enabled status.
+ * If enabled, the Y-axis will not gather or report data (or use power).
+ * @return Current Y-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_YA_BIT
+ */
+bool MPU6050::getStandbyYAccelEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
+    return buffer[0];
+}
+/** Set Y-axis accelerometer standby enabled status.
+ * @param New Y-axis standby enabled status
+ * @see getStandbyYAccelEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_YA_BIT
+ */
+void MPU6050::setStandbyYAccelEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
+}
+/** Get Z-axis accelerometer standby enabled status.
+ * If enabled, the Z-axis will not gather or report data (or use power).
+ * @return Current Z-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_ZA_BIT
+ */
+bool MPU6050::getStandbyZAccelEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
+    return buffer[0];
+}
+/** Set Z-axis accelerometer standby enabled status.
+ * @param New Z-axis standby enabled status
+ * @see getStandbyZAccelEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_ZA_BIT
+ */
+void MPU6050::setStandbyZAccelEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
+}
+/** Get X-axis gyroscope standby enabled status.
+ * If enabled, the X-axis will not gather or report data (or use power).
+ * @return Current X-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_XG_BIT
+ */
+bool MPU6050::getStandbyXGyroEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
+    return buffer[0];
+}
+/** Set X-axis gyroscope standby enabled status.
+ * @param New X-axis standby enabled status
+ * @see getStandbyXGyroEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_XG_BIT
+ */
+void MPU6050::setStandbyXGyroEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
+}
+/** Get Y-axis gyroscope standby enabled status.
+ * If enabled, the Y-axis will not gather or report data (or use power).
+ * @return Current Y-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_YG_BIT
+ */
+bool MPU6050::getStandbyYGyroEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
+    return buffer[0];
+}
+/** Set Y-axis gyroscope standby enabled status.
+ * @param New Y-axis standby enabled status
+ * @see getStandbyYGyroEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_YG_BIT
+ */
+void MPU6050::setStandbyYGyroEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
+}
+/** Get Z-axis gyroscope standby enabled status.
+ * If enabled, the Z-axis will not gather or report data (or use power).
+ * @return Current Z-axis standby enabled status
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_ZG_BIT
+ */
+bool MPU6050::getStandbyZGyroEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
+    return buffer[0];
+}
+/** Set Z-axis gyroscope standby enabled status.
+ * @param New Z-axis standby enabled status
+ * @see getStandbyZGyroEnabled()
+ * @see MPU6050_RA_PWR_MGMT_2
+ * @see MPU6050_PWR2_STBY_ZG_BIT
+ */
+void MPU6050::setStandbyZGyroEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
+}
+
+// FIFO_COUNT* registers
+
+/** Get current FIFO buffer size.
+ * This value indicates the number of bytes stored in the FIFO buffer. This
+ * number is in turn the number of bytes that can be read from the FIFO buffer
+ * and it is directly proportional to the number of samples available given the
+ * set of sensor data bound to be stored in the FIFO (register 35 and 36).
+ * @return Current FIFO buffer size
+ */
+uint16_t MPU6050::getFIFOCount() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
+    return (((uint16_t)buffer[0]) << 8) | buffer[1];
+}
+
+// FIFO_R_W register
+
+/** Get byte from FIFO buffer.
+ * This register is used to read and write data from the FIFO buffer. Data is
+ * written to the FIFO in order of register number (from lowest to highest). If
+ * all the FIFO enable flags (see below) are enabled and all External Sensor
+ * Data registers (Registers 73 to 96) are associated with a Slave device, the
+ * contents of registers 59 through 96 will be written in order at the Sample
+ * Rate.
+ *
+ * The contents of the sensor data registers (Registers 59 to 96) are written
+ * into the FIFO buffer when their corresponding FIFO enable flags are set to 1
+ * in FIFO_EN (Register 35). An additional flag for the sensor data registers
+ * associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
+ *
+ * If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
+ * automatically set to 1. This bit is located in INT_STATUS (Register 58).
+ * When the FIFO buffer has overflowed, the oldest data will be lost and new
+ * data will be written to the FIFO.
+ *
+ * If the FIFO buffer is empty, reading this register will return the last byte
+ * that was previously read from the FIFO until new data is available. The user
+ * should check FIFO_COUNT to ensure that the FIFO buffer is not read when
+ * empty.
+ *
+ * @return Byte from FIFO buffer
+ */
+uint8_t MPU6050::getFIFOByte() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
+    return buffer[0];
+}
+void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
+}
+/** Write byte to FIFO buffer.
+ * @see getFIFOByte()
+ * @see MPU6050_RA_FIFO_R_W
+ */
+void MPU6050::setFIFOByte(uint8_t data) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
+}
+
+// WHO_AM_I register
+
+/** Get Device ID.
+ * This register is used to verify the identity of the device (0b110100, 0x34).
+ * @return Device ID (6 bits only! should be 0x34)
+ * @see MPU6050_RA_WHO_AM_I
+ * @see MPU6050_WHO_AM_I_BIT
+ * @see MPU6050_WHO_AM_I_LENGTH
+ */
+uint8_t MPU6050::getDeviceID() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
+    return buffer[0];
+}
+/** Set Device ID.
+ * Write a new ID into the WHO_AM_I register (no idea why this should ever be
+ * necessary though).
+ * @param id New device ID to set.
+ * @see getDeviceID()
+ * @see MPU6050_RA_WHO_AM_I
+ * @see MPU6050_WHO_AM_I_BIT
+ * @see MPU6050_WHO_AM_I_LENGTH
+ */
+void MPU6050::setDeviceID(uint8_t id) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
+}
+
+// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
+
+// XG_OFFS_TC register
+
+uint8_t MPU6050::getOTPBankValid() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
+    return buffer[0];
+}
+void MPU6050::setOTPBankValid(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
+}
+int8_t MPU6050::getXGyroOffset() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+    return buffer[0];
+}
+void MPU6050::setXGyroOffset(int8_t offset) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+}
+
+// YG_OFFS_TC register
+
+int8_t MPU6050::getYGyroOffset() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+    return buffer[0];
+}
+void MPU6050::setYGyroOffset(int8_t offset) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+}
+
+// ZG_OFFS_TC register
+
+int8_t MPU6050::getZGyroOffset() {
+    I2Cdev::readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
+    return buffer[0];
+}
+void MPU6050::setZGyroOffset(int8_t offset) {
+    I2Cdev::writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
+}
+
+// X_FINE_GAIN register
+
+int8_t MPU6050::getXFineGain() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
+    return buffer[0];
+}
+void MPU6050::setXFineGain(int8_t gain) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
+}
+
+// Y_FINE_GAIN register
+
+int8_t MPU6050::getYFineGain() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
+    return buffer[0];
+}
+void MPU6050::setYFineGain(int8_t gain) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
+}
+
+// Z_FINE_GAIN register
+
+int8_t MPU6050::getZFineGain() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
+    return buffer[0];
+}
+void MPU6050::setZFineGain(int8_t gain) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
+}
+
+// XA_OFFS_* registers
+
+int16_t MPU6050::getXAccelOffset() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setXAccelOffset(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
+}
+
+// YA_OFFS_* register
+
+int16_t MPU6050::getYAccelOffset() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setYAccelOffset(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
+}
+
+// ZA_OFFS_* register
+
+int16_t MPU6050::getZAccelOffset() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setZAccelOffset(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
+}
+
+// XG_OFFS_USR* registers
+
+int16_t MPU6050::getXGyroOffsetUser() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setXGyroOffsetUser(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
+}
+
+// YG_OFFS_USR* register
+
+int16_t MPU6050::getYGyroOffsetUser() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setYGyroOffsetUser(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
+}
+
+// ZG_OFFS_USR* register
+
+int16_t MPU6050::getZGyroOffsetUser() {
+    I2Cdev::readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
+    return (((int16_t)buffer[0]) << 8) | buffer[1];
+}
+void MPU6050::setZGyroOffsetUser(int16_t offset) {
+    I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
+}
+
+// INT_ENABLE register (DMP functions)
+
+bool MPU6050::getIntPLLReadyEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+    return buffer[0];
+}
+void MPU6050::setIntPLLReadyEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
+}
+bool MPU6050::getIntDMPEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
+    return buffer[0];
+}
+void MPU6050::setIntDMPEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
+}
+
+// DMP_INT_STATUS
+
+bool MPU6050::getDMPInt5Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt4Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt3Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt2Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt1Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getDMPInt0Status() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
+    return buffer[0];
+}
+
+// INT_STATUS register (DMP functions)
+
+bool MPU6050::getIntPLLReadyStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+    return buffer[0];
+}
+bool MPU6050::getIntDMPStatus() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
+    return buffer[0];
+}
+
+// USER_CTRL register (DMP functions)
+
+bool MPU6050::getDMPEnabled() {
+    I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
+    return buffer[0];
+}
+void MPU6050::setDMPEnabled(bool enabled) {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
+}
+void MPU6050::resetDMP() {
+    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
+}
+
+// BANK_SEL register
+
+void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) {
+    bank &= 0x1F;
+    if (userBank) bank |= 0x20;
+    if (prefetchEnabled) bank |= 0x40;
+    I2Cdev::writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
+}
+
+// MEM_START_ADDR register
+
+void MPU6050::setMemoryStartAddress(uint8_t address) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
+}
+
+// MEM_R_W register
+
+uint8_t MPU6050::readMemoryByte() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
+    return buffer[0];
+}
+void MPU6050::writeMemoryByte(uint8_t data) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
+}
+void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) {
+    setMemoryBank(bank);
+    setMemoryStartAddress(address);
+    uint8_t chunkSize;
+    for (uint16_t i = 0; i < dataSize;) {
+        // determine correct chunk size according to bank position and data size
+        chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
+
+        // make sure we don't go past the data size
+        if (i + chunkSize > dataSize) chunkSize = dataSize - i;
+
+        // make sure this chunk doesn't go past the bank boundary (256 bytes)
+        if (chunkSize > 256 - address) chunkSize = 256 - address;
+
+        // read the chunk of data as specified
+        I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
+        
+        // increase byte index by [chunkSize]
+        i += chunkSize;
+
+        // uint8_t automatically wraps to 0 at 256
+        address += chunkSize;
+
+        // if we aren't done, update bank (if necessary) and address
+        if (i < dataSize) {
+            if (address == 0) bank++;
+            setMemoryBank(bank);
+            setMemoryStartAddress(address);
+        }
+    }
+}
+bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem) {
+    setMemoryBank(bank);
+    setMemoryStartAddress(address);
+    uint8_t chunkSize;
+    uint8_t *verifyBuffer;
+    uint8_t *progBuffer;
+    uint16_t i;
+    uint8_t j;
+    if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
+    if (useProgMem) progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
+    for (i = 0; i < dataSize;) {
+        // determine correct chunk size according to bank position and data size
+        chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
+
+        // make sure we don't go past the data size
+        if (i + chunkSize > dataSize) chunkSize = dataSize - i;
+
+        // make sure this chunk doesn't go past the bank boundary (256 bytes)
+        if (chunkSize > 256 - address) chunkSize = 256 - address;
+        
+        if (useProgMem) {
+            // write the chunk of data as specified
+            for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
+        } else {
+            // write the chunk of data as specified
+            progBuffer = (uint8_t *)data + i;
+        }
+
+        I2Cdev::writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
+
+        // verify data if needed
+        if (verify && verifyBuffer) {
+            setMemoryBank(bank);
+            setMemoryStartAddress(address);
+            I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
+            if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
+                /*Serial.print("Block write verification error, bank ");
+                Serial.print(bank, DEC);
+                Serial.print(", address ");
+                Serial.print(address, DEC);
+                Serial.print("!\nExpected:");
+                for (j = 0; j < chunkSize; j++) {
+                    Serial.print(" 0x");
+                    if (progBuffer[j] < 16) Serial.print("0");
+                    Serial.print(progBuffer[j], HEX);
+                }
+                Serial.print("\nReceived:");
+                for (uint8_t j = 0; j < chunkSize; j++) {
+                    Serial.print(" 0x");
+                    if (verifyBuffer[i + j] < 16) Serial.print("0");
+                    Serial.print(verifyBuffer[i + j], HEX);
+                }
+                Serial.print("\n");*/
+                free(verifyBuffer);
+                if (useProgMem) free(progBuffer);
+                return false; // uh oh.
+            }
+        }
+
+        // increase byte index by [chunkSize]
+        i += chunkSize;
+
+        // uint8_t automatically wraps to 0 at 256
+        address += chunkSize;
+
+        // if we aren't done, update bank (if necessary) and address
+        if (i < dataSize) {
+            if (address == 0) bank++;
+            setMemoryBank(bank);
+            setMemoryStartAddress(address);
+        }
+    }
+    if (verify) free(verifyBuffer);
+    if (useProgMem) free(progBuffer);
+    return true;
+}
+bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
+    return writeMemoryBlock(data, dataSize, bank, address, verify, true);
+}
+bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem) {
+    uint8_t *progBuffer, success, special;
+    uint16_t i, j;
+    if (useProgMem) {
+        progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
+    }
+
+    // config set data is a long string of blocks with the following structure:
+    // [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
+    uint8_t bank, offset, length;
+    for (i = 0; i < dataSize;) {
+        if (useProgMem) {
+            bank = pgm_read_byte(data + i++);
+            offset = pgm_read_byte(data + i++);
+            length = pgm_read_byte(data + i++);
+        } else {
+            bank = data[i++];
+            offset = data[i++];
+            length = data[i++];
+        }
+
+        // write data or perform special action
+        if (length > 0) {
+            // regular block of data to write
+            /*Serial.print("Writing config block to bank ");
+            Serial.print(bank);
+            Serial.print(", offset ");
+            Serial.print(offset);
+            Serial.print(", length=");
+            Serial.println(length);*/
+            if (useProgMem) {
+                if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
+                for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
+            } else {
+                progBuffer = (uint8_t *)data + i;
+            }
+            success = writeMemoryBlock(progBuffer, length, bank, offset, true);
+            i += length;
+        } else {
+            // special instruction
+            // NOTE: this kind of behavior (what and when to do certain things)
+            // is totally undocumented. This code is in here based on observed
+            // behavior only, and exactly why (or even whether) it has to be here
+            // is anybody's guess for now.
+            if (useProgMem) {
+                special = pgm_read_byte(data + i++);
+            } else {
+                special = data[i++];
+            }
+            /*Serial.print("Special command code ");
+            Serial.print(special, HEX);
+            Serial.println(" found...");*/
+            if (special == 0x01) {
+                // enable DMP-related interrupts
+                
+                //setIntZeroMotionEnabled(true);
+                //setIntFIFOBufferOverflowEnabled(true);
+                //setIntDMPEnabled(true);
+                I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32);  // single operation
+
+                success = true;
+            } else {
+                // unknown special command
+                success = false;
+            }
+        }
+        
+        if (!success) {
+            if (useProgMem) free(progBuffer);
+            return false; // uh oh
+        }
+    }
+    if (useProgMem) free(progBuffer);
+    return true;
+}
+bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) {
+    return writeDMPConfigurationSet(data, dataSize, true);
+}
+
+// DMP_CFG_1 register
+
+uint8_t MPU6050::getDMPConfig1() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
+    return buffer[0];
+}
+void MPU6050::setDMPConfig1(uint8_t config) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
+}
+
+// DMP_CFG_2 register
+
+uint8_t MPU6050::getDMPConfig2() {
+    I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
+    return buffer[0];
+}
+void MPU6050::setDMPConfig2(uint8_t config) {
+    I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
+}
diff --git a/libraries/MPU9150/MPU9150.h b/libraries/MPU9150/MPU9150.h
new file mode 100644
index 0000000..e0d015f
--- /dev/null
+++ b/libraries/MPU9150/MPU9150.h
@@ -0,0 +1,1002 @@
+// I2Cdev library collection - MPU6050 I2C device class
+// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
+// 10/3/2011 by Jeff Rowberg 
+// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
+//
+// Changelog:
+//     ... - ongoing debug release
+
+// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
+// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
+// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
+
+/* ============================================
+I2Cdev device library code is placed under the MIT license
+Copyright (c) 2012 Jeff Rowberg
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+===============================================
+*/
+
+#ifndef _MPU6050_H_
+#define _MPU6050_H_
+
+#include "I2Cdev.h"
+#include 
+
+//Magnetometer Registers
+#define MPU9150_RA_MAG_ADDRESS		0x0C
+#define MPU9150_RA_MAG_XOUT_L		0x03
+#define MPU9150_RA_MAG_XOUT_H		0x04
+#define MPU9150_RA_MAG_YOUT_L		0x05
+#define MPU9150_RA_MAG_YOUT_H		0x06
+#define MPU9150_RA_MAG_ZOUT_L		0x07
+#define MPU9150_RA_MAG_ZOUT_H		0x08
+
+#define MPU6050_ADDRESS_AD0_LOW     0x68 // address pin low (GND), default for InvenSense evaluation board
+#define MPU6050_ADDRESS_AD0_HIGH    0x69 // address pin high (VCC)
+#define MPU6050_DEFAULT_ADDRESS     MPU6050_ADDRESS_AD0_LOW
+
+#define MPU6050_RA_XG_OFFS_TC       0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU6050_RA_YG_OFFS_TC       0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU6050_RA_ZG_OFFS_TC       0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU6050_RA_X_FINE_GAIN      0x03 //[7:0] X_FINE_GAIN
+#define MPU6050_RA_Y_FINE_GAIN      0x04 //[7:0] Y_FINE_GAIN
+#define MPU6050_RA_Z_FINE_GAIN      0x05 //[7:0] Z_FINE_GAIN
+#define MPU6050_RA_XA_OFFS_H        0x06 //[15:0] XA_OFFS
+#define MPU6050_RA_XA_OFFS_L_TC     0x07
+#define MPU6050_RA_YA_OFFS_H        0x08 //[15:0] YA_OFFS
+#define MPU6050_RA_YA_OFFS_L_TC     0x09
+#define MPU6050_RA_ZA_OFFS_H        0x0A //[15:0] ZA_OFFS
+#define MPU6050_RA_ZA_OFFS_L_TC     0x0B
+#define MPU6050_RA_XG_OFFS_USRH     0x13 //[15:0] XG_OFFS_USR
+#define MPU6050_RA_XG_OFFS_USRL     0x14
+#define MPU6050_RA_YG_OFFS_USRH     0x15 //[15:0] YG_OFFS_USR
+#define MPU6050_RA_YG_OFFS_USRL     0x16
+#define MPU6050_RA_ZG_OFFS_USRH     0x17 //[15:0] ZG_OFFS_USR
+#define MPU6050_RA_ZG_OFFS_USRL     0x18
+#define MPU6050_RA_SMPLRT_DIV       0x19
+#define MPU6050_RA_CONFIG           0x1A
+#define MPU6050_RA_GYRO_CONFIG      0x1B
+#define MPU6050_RA_ACCEL_CONFIG     0x1C
+#define MPU6050_RA_FF_THR           0x1D
+#define MPU6050_RA_FF_DUR           0x1E
+#define MPU6050_RA_MOT_THR          0x1F
+#define MPU6050_RA_MOT_DUR          0x20
+#define MPU6050_RA_ZRMOT_THR        0x21
+#define MPU6050_RA_ZRMOT_DUR        0x22
+#define MPU6050_RA_FIFO_EN          0x23
+#define MPU6050_RA_I2C_MST_CTRL     0x24
+#define MPU6050_RA_I2C_SLV0_ADDR    0x25
+#define MPU6050_RA_I2C_SLV0_REG     0x26
+#define MPU6050_RA_I2C_SLV0_CTRL    0x27
+#define MPU6050_RA_I2C_SLV1_ADDR    0x28
+#define MPU6050_RA_I2C_SLV1_REG     0x29
+#define MPU6050_RA_I2C_SLV1_CTRL    0x2A
+#define MPU6050_RA_I2C_SLV2_ADDR    0x2B
+#define MPU6050_RA_I2C_SLV2_REG     0x2C
+#define MPU6050_RA_I2C_SLV2_CTRL    0x2D
+#define MPU6050_RA_I2C_SLV3_ADDR    0x2E
+#define MPU6050_RA_I2C_SLV3_REG     0x2F
+#define MPU6050_RA_I2C_SLV3_CTRL    0x30
+#define MPU6050_RA_I2C_SLV4_ADDR    0x31
+#define MPU6050_RA_I2C_SLV4_REG     0x32
+#define MPU6050_RA_I2C_SLV4_DO      0x33
+#define MPU6050_RA_I2C_SLV4_CTRL    0x34
+#define MPU6050_RA_I2C_SLV4_DI      0x35
+#define MPU6050_RA_I2C_MST_STATUS   0x36
+#define MPU6050_RA_INT_PIN_CFG      0x37
+#define MPU6050_RA_INT_ENABLE       0x38
+#define MPU6050_RA_DMP_INT_STATUS   0x39
+#define MPU6050_RA_INT_STATUS       0x3A
+#define MPU6050_RA_ACCEL_XOUT_H     0x3B
+#define MPU6050_RA_ACCEL_XOUT_L     0x3C
+#define MPU6050_RA_ACCEL_YOUT_H     0x3D
+#define MPU6050_RA_ACCEL_YOUT_L     0x3E
+#define MPU6050_RA_ACCEL_ZOUT_H     0x3F
+#define MPU6050_RA_ACCEL_ZOUT_L     0x40
+#define MPU6050_RA_TEMP_OUT_H       0x41
+#define MPU6050_RA_TEMP_OUT_L       0x42
+#define MPU6050_RA_GYRO_XOUT_H      0x43
+#define MPU6050_RA_GYRO_XOUT_L      0x44
+#define MPU6050_RA_GYRO_YOUT_H      0x45
+#define MPU6050_RA_GYRO_YOUT_L      0x46
+#define MPU6050_RA_GYRO_ZOUT_H      0x47
+#define MPU6050_RA_GYRO_ZOUT_L      0x48
+#define MPU6050_RA_EXT_SENS_DATA_00 0x49
+#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
+#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
+#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
+#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
+#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
+#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
+#define MPU6050_RA_EXT_SENS_DATA_07 0x50
+#define MPU6050_RA_EXT_SENS_DATA_08 0x51
+#define MPU6050_RA_EXT_SENS_DATA_09 0x52
+#define MPU6050_RA_EXT_SENS_DATA_10 0x53
+#define MPU6050_RA_EXT_SENS_DATA_11 0x54
+#define MPU6050_RA_EXT_SENS_DATA_12 0x55
+#define MPU6050_RA_EXT_SENS_DATA_13 0x56
+#define MPU6050_RA_EXT_SENS_DATA_14 0x57
+#define MPU6050_RA_EXT_SENS_DATA_15 0x58
+#define MPU6050_RA_EXT_SENS_DATA_16 0x59
+#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
+#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
+#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
+#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
+#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
+#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
+#define MPU6050_RA_EXT_SENS_DATA_23 0x60
+#define MPU6050_RA_MOT_DETECT_STATUS    0x61
+#define MPU6050_RA_I2C_SLV0_DO      0x63
+#define MPU6050_RA_I2C_SLV1_DO      0x64
+#define MPU6050_RA_I2C_SLV2_DO      0x65
+#define MPU6050_RA_I2C_SLV3_DO      0x66
+#define MPU6050_RA_I2C_MST_DELAY_CTRL   0x67
+#define MPU6050_RA_SIGNAL_PATH_RESET    0x68
+#define MPU6050_RA_MOT_DETECT_CTRL      0x69
+#define MPU6050_RA_USER_CTRL        0x6A
+#define MPU6050_RA_PWR_MGMT_1       0x6B
+#define MPU6050_RA_PWR_MGMT_2       0x6C
+#define MPU6050_RA_BANK_SEL         0x6D
+#define MPU6050_RA_MEM_START_ADDR   0x6E
+#define MPU6050_RA_MEM_R_W          0x6F
+#define MPU6050_RA_DMP_CFG_1        0x70
+#define MPU6050_RA_DMP_CFG_2        0x71
+#define MPU6050_RA_FIFO_COUNTH      0x72
+#define MPU6050_RA_FIFO_COUNTL      0x73
+#define MPU6050_RA_FIFO_R_W         0x74
+#define MPU6050_RA_WHO_AM_I         0x75
+
+#define MPU6050_TC_PWR_MODE_BIT     7
+#define MPU6050_TC_OFFSET_BIT       6
+#define MPU6050_TC_OFFSET_LENGTH    6
+#define MPU6050_TC_OTP_BNK_VLD_BIT  0
+
+#define MPU6050_VDDIO_LEVEL_VLOGIC  0
+#define MPU6050_VDDIO_LEVEL_VDD     1
+
+#define MPU6050_CFG_EXT_SYNC_SET_BIT    5
+#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
+#define MPU6050_CFG_DLPF_CFG_BIT    2
+#define MPU6050_CFG_DLPF_CFG_LENGTH 3
+
+#define MPU6050_EXT_SYNC_DISABLED       0x0
+#define MPU6050_EXT_SYNC_TEMP_OUT_L     0x1
+#define MPU6050_EXT_SYNC_GYRO_XOUT_L    0x2
+#define MPU6050_EXT_SYNC_GYRO_YOUT_L    0x3
+#define MPU6050_EXT_SYNC_GYRO_ZOUT_L    0x4
+#define MPU6050_EXT_SYNC_ACCEL_XOUT_L   0x5
+#define MPU6050_EXT_SYNC_ACCEL_YOUT_L   0x6
+#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L   0x7
+
+#define MPU6050_DLPF_BW_256         0x00
+#define MPU6050_DLPF_BW_188         0x01
+#define MPU6050_DLPF_BW_98          0x02
+#define MPU6050_DLPF_BW_42          0x03
+#define MPU6050_DLPF_BW_20          0x04
+#define MPU6050_DLPF_BW_10          0x05
+#define MPU6050_DLPF_BW_5           0x06
+
+#define MPU6050_GCONFIG_FS_SEL_BIT      4
+#define MPU6050_GCONFIG_FS_SEL_LENGTH   2
+
+#define MPU6050_GYRO_FS_250         0x00
+#define MPU6050_GYRO_FS_500         0x01
+#define MPU6050_GYRO_FS_1000        0x02
+#define MPU6050_GYRO_FS_2000        0x03
+
+#define MPU6050_ACONFIG_XA_ST_BIT           7
+#define MPU6050_ACONFIG_YA_ST_BIT           6
+#define MPU6050_ACONFIG_ZA_ST_BIT           5
+#define MPU6050_ACONFIG_AFS_SEL_BIT         4
+#define MPU6050_ACONFIG_AFS_SEL_LENGTH      2
+#define MPU6050_ACONFIG_ACCEL_HPF_BIT       2
+#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH    3
+
+#define MPU6050_ACCEL_FS_2          0x00
+#define MPU6050_ACCEL_FS_4          0x01
+#define MPU6050_ACCEL_FS_8          0x02
+#define MPU6050_ACCEL_FS_16         0x03
+
+#define MPU6050_DHPF_RESET          0x00
+#define MPU6050_DHPF_5              0x01
+#define MPU6050_DHPF_2P5            0x02
+#define MPU6050_DHPF_1P25           0x03
+#define MPU6050_DHPF_0P63           0x04
+#define MPU6050_DHPF_HOLD           0x07
+
+#define MPU6050_TEMP_FIFO_EN_BIT    7
+#define MPU6050_XG_FIFO_EN_BIT      6
+#define MPU6050_YG_FIFO_EN_BIT      5
+#define MPU6050_ZG_FIFO_EN_BIT      4
+#define MPU6050_ACCEL_FIFO_EN_BIT   3
+#define MPU6050_SLV2_FIFO_EN_BIT    2
+#define MPU6050_SLV1_FIFO_EN_BIT    1
+#define MPU6050_SLV0_FIFO_EN_BIT    0
+
+#define MPU6050_MULT_MST_EN_BIT     7
+#define MPU6050_WAIT_FOR_ES_BIT     6
+#define MPU6050_SLV_3_FIFO_EN_BIT   5
+#define MPU6050_I2C_MST_P_NSR_BIT   4
+#define MPU6050_I2C_MST_CLK_BIT     3
+#define MPU6050_I2C_MST_CLK_LENGTH  4
+
+#define MPU6050_CLOCK_DIV_348       0x0
+#define MPU6050_CLOCK_DIV_333       0x1
+#define MPU6050_CLOCK_DIV_320       0x2
+#define MPU6050_CLOCK_DIV_308       0x3
+#define MPU6050_CLOCK_DIV_296       0x4
+#define MPU6050_CLOCK_DIV_286       0x5
+#define MPU6050_CLOCK_DIV_276       0x6
+#define MPU6050_CLOCK_DIV_267       0x7
+#define MPU6050_CLOCK_DIV_258       0x8
+#define MPU6050_CLOCK_DIV_500       0x9
+#define MPU6050_CLOCK_DIV_471       0xA
+#define MPU6050_CLOCK_DIV_444       0xB
+#define MPU6050_CLOCK_DIV_421       0xC
+#define MPU6050_CLOCK_DIV_400       0xD
+#define MPU6050_CLOCK_DIV_381       0xE
+#define MPU6050_CLOCK_DIV_364       0xF
+
+#define MPU6050_I2C_SLV_RW_BIT      7
+#define MPU6050_I2C_SLV_ADDR_BIT    6
+#define MPU6050_I2C_SLV_ADDR_LENGTH 7
+#define MPU6050_I2C_SLV_EN_BIT      7
+#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
+#define MPU6050_I2C_SLV_REG_DIS_BIT 5
+#define MPU6050_I2C_SLV_GRP_BIT     4
+#define MPU6050_I2C_SLV_LEN_BIT     3
+#define MPU6050_I2C_SLV_LEN_LENGTH  4
+
+#define MPU6050_I2C_SLV4_RW_BIT         7
+#define MPU6050_I2C_SLV4_ADDR_BIT       6
+#define MPU6050_I2C_SLV4_ADDR_LENGTH    7
+#define MPU6050_I2C_SLV4_EN_BIT         7
+#define MPU6050_I2C_SLV4_INT_EN_BIT     6
+#define MPU6050_I2C_SLV4_REG_DIS_BIT    5
+#define MPU6050_I2C_SLV4_MST_DLY_BIT    4
+#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
+
+#define MPU6050_MST_PASS_THROUGH_BIT    7
+#define MPU6050_MST_I2C_SLV4_DONE_BIT   6
+#define MPU6050_MST_I2C_LOST_ARB_BIT    5
+#define MPU6050_MST_I2C_SLV4_NACK_BIT   4
+#define MPU6050_MST_I2C_SLV3_NACK_BIT   3
+#define MPU6050_MST_I2C_SLV2_NACK_BIT   2
+#define MPU6050_MST_I2C_SLV1_NACK_BIT   1
+#define MPU6050_MST_I2C_SLV0_NACK_BIT   0
+
+#define MPU6050_INTCFG_INT_LEVEL_BIT        7
+#define MPU6050_INTCFG_INT_OPEN_BIT         6
+#define MPU6050_INTCFG_LATCH_INT_EN_BIT     5
+#define MPU6050_INTCFG_INT_RD_CLEAR_BIT     4
+#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT  3
+#define MPU6050_INTCFG_FSYNC_INT_EN_BIT     2
+#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT    1
+#define MPU6050_INTCFG_CLKOUT_EN_BIT        0
+
+#define MPU6050_INTMODE_ACTIVEHIGH  0x00
+#define MPU6050_INTMODE_ACTIVELOW   0x01
+
+#define MPU6050_INTDRV_PUSHPULL     0x00
+#define MPU6050_INTDRV_OPENDRAIN    0x01
+
+#define MPU6050_INTLATCH_50USPULSE  0x00
+#define MPU6050_INTLATCH_WAITCLEAR  0x01
+
+#define MPU6050_INTCLEAR_STATUSREAD 0x00
+#define MPU6050_INTCLEAR_ANYREAD    0x01
+
+#define MPU6050_INTERRUPT_FF_BIT            7
+#define MPU6050_INTERRUPT_MOT_BIT           6
+#define MPU6050_INTERRUPT_ZMOT_BIT          5
+#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT    4
+#define MPU6050_INTERRUPT_I2C_MST_INT_BIT   3
+#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT   2
+#define MPU6050_INTERRUPT_DMP_INT_BIT       1
+#define MPU6050_INTERRUPT_DATA_RDY_BIT      0
+
+// TODO: figure out what these actually do
+// UMPL source code is not very obivous
+#define MPU6050_DMPINT_5_BIT            5
+#define MPU6050_DMPINT_4_BIT            4
+#define MPU6050_DMPINT_3_BIT            3
+#define MPU6050_DMPINT_2_BIT            2
+#define MPU6050_DMPINT_1_BIT            1
+#define MPU6050_DMPINT_0_BIT            0
+
+#define MPU6050_MOTION_MOT_XNEG_BIT     7
+#define MPU6050_MOTION_MOT_XPOS_BIT     6
+#define MPU6050_MOTION_MOT_YNEG_BIT     5
+#define MPU6050_MOTION_MOT_YPOS_BIT     4
+#define MPU6050_MOTION_MOT_ZNEG_BIT     3
+#define MPU6050_MOTION_MOT_ZPOS_BIT     2
+#define MPU6050_MOTION_MOT_ZRMOT_BIT    0
+
+#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT   7
+#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT   4
+#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT   3
+#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT   2
+#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT   1
+#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT   0
+
+#define MPU6050_PATHRESET_GYRO_RESET_BIT    2
+#define MPU6050_PATHRESET_ACCEL_RESET_BIT   1
+#define MPU6050_PATHRESET_TEMP_RESET_BIT    0
+
+#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT       5
+#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH    2
+#define MPU6050_DETECT_FF_COUNT_BIT             3
+#define MPU6050_DETECT_FF_COUNT_LENGTH          2
+#define MPU6050_DETECT_MOT_COUNT_BIT            1
+#define MPU6050_DETECT_MOT_COUNT_LENGTH         2
+
+#define MPU6050_DETECT_DECREMENT_RESET  0x0
+#define MPU6050_DETECT_DECREMENT_1      0x1
+#define MPU6050_DETECT_DECREMENT_2      0x2
+#define MPU6050_DETECT_DECREMENT_4      0x3
+
+#define MPU6050_USERCTRL_DMP_EN_BIT             7
+#define MPU6050_USERCTRL_FIFO_EN_BIT            6
+#define MPU6050_USERCTRL_I2C_MST_EN_BIT         5
+#define MPU6050_USERCTRL_I2C_IF_DIS_BIT         4
+#define MPU6050_USERCTRL_DMP_RESET_BIT          3
+#define MPU6050_USERCTRL_FIFO_RESET_BIT         2
+#define MPU6050_USERCTRL_I2C_MST_RESET_BIT      1
+#define MPU6050_USERCTRL_SIG_COND_RESET_BIT     0
+
+#define MPU6050_PWR1_DEVICE_RESET_BIT   7
+#define MPU6050_PWR1_SLEEP_BIT          6
+#define MPU6050_PWR1_CYCLE_BIT          5
+#define MPU6050_PWR1_TEMP_DIS_BIT       3
+#define MPU6050_PWR1_CLKSEL_BIT         2
+#define MPU6050_PWR1_CLKSEL_LENGTH      3
+
+#define MPU6050_CLOCK_INTERNAL          0x00
+#define MPU6050_CLOCK_PLL_XGYRO         0x01
+#define MPU6050_CLOCK_PLL_YGYRO         0x02
+#define MPU6050_CLOCK_PLL_ZGYRO         0x03
+#define MPU6050_CLOCK_PLL_EXT32K        0x04
+#define MPU6050_CLOCK_PLL_EXT19M        0x05
+#define MPU6050_CLOCK_KEEP_RESET        0x07
+
+#define MPU6050_PWR2_LP_WAKE_CTRL_BIT       7
+#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH    2
+#define MPU6050_PWR2_STBY_XA_BIT            5
+#define MPU6050_PWR2_STBY_YA_BIT            4
+#define MPU6050_PWR2_STBY_ZA_BIT            3
+#define MPU6050_PWR2_STBY_XG_BIT            2
+#define MPU6050_PWR2_STBY_YG_BIT            1
+#define MPU6050_PWR2_STBY_ZG_BIT            0
+
+#define MPU6050_WAKE_FREQ_1P25      0x0
+#define MPU6050_WAKE_FREQ_2P5       0x1
+#define MPU6050_WAKE_FREQ_5         0x2
+#define MPU6050_WAKE_FREQ_10        0x3
+
+#define MPU6050_BANKSEL_PRFTCH_EN_BIT       6
+#define MPU6050_BANKSEL_CFG_USER_BANK_BIT   5
+#define MPU6050_BANKSEL_MEM_SEL_BIT         4
+#define MPU6050_BANKSEL_MEM_SEL_LENGTH      5
+
+#define MPU6050_WHO_AM_I_BIT        6
+#define MPU6050_WHO_AM_I_LENGTH     6
+
+#define MPU6050_DMP_MEMORY_BANKS        8
+#define MPU6050_DMP_MEMORY_BANK_SIZE    256
+#define MPU6050_DMP_MEMORY_CHUNK_SIZE   16
+
+// note: DMP code memory blocks defined at end of header file
+
+class MPU6050 {
+    public:
+        MPU6050();
+        MPU6050(uint8_t address);
+
+        void initialize();
+        bool testConnection();
+
+        // AUX_VDDIO register
+        uint8_t getAuxVDDIOLevel();
+        void setAuxVDDIOLevel(uint8_t level);
+
+        // SMPLRT_DIV register
+        uint8_t getRate();
+        void setRate(uint8_t rate);
+        
+        uint8_t  checkMagStatus();
+     
+        // CONFIG register
+        uint8_t getExternalFrameSync();
+        void setExternalFrameSync(uint8_t sync);
+        uint8_t getDLPFMode();
+        void setDLPFMode(uint8_t bandwidth);
+
+        // GYRO_CONFIG register
+        uint8_t getFullScaleGyroRange();
+        void setFullScaleGyroRange(uint8_t range);
+
+        // ACCEL_CONFIG register
+        bool getAccelXSelfTest();
+        void setAccelXSelfTest(bool enabled);
+        bool getAccelYSelfTest();
+        void setAccelYSelfTest(bool enabled);
+        bool getAccelZSelfTest();
+        void setAccelZSelfTest(bool enabled);
+        uint8_t getFullScaleAccelRange();
+        void setFullScaleAccelRange(uint8_t range);
+        uint8_t getDHPFMode();
+        void setDHPFMode(uint8_t mode);
+
+        // FF_THR register
+        uint8_t getFreefallDetectionThreshold();
+        void setFreefallDetectionThreshold(uint8_t threshold);
+
+        // FF_DUR register
+        uint8_t getFreefallDetectionDuration();
+        void setFreefallDetectionDuration(uint8_t duration);
+
+        // MOT_THR register
+        uint8_t getMotionDetectionThreshold();
+        void setMotionDetectionThreshold(uint8_t threshold);
+
+        // MOT_DUR register
+        uint8_t getMotionDetectionDuration();
+        void setMotionDetectionDuration(uint8_t duration);
+
+        // ZRMOT_THR register
+        uint8_t getZeroMotionDetectionThreshold();
+        void setZeroMotionDetectionThreshold(uint8_t threshold);
+
+        // ZRMOT_DUR register
+        uint8_t getZeroMotionDetectionDuration();
+        void setZeroMotionDetectionDuration(uint8_t duration);
+
+        // FIFO_EN register
+        bool getTempFIFOEnabled();
+        void setTempFIFOEnabled(bool enabled);
+        bool getXGyroFIFOEnabled();
+        void setXGyroFIFOEnabled(bool enabled);
+        bool getYGyroFIFOEnabled();
+        void setYGyroFIFOEnabled(bool enabled);
+        bool getZGyroFIFOEnabled();
+        void setZGyroFIFOEnabled(bool enabled);
+        bool getAccelFIFOEnabled();
+        void setAccelFIFOEnabled(bool enabled);
+        bool getSlave2FIFOEnabled();
+        void setSlave2FIFOEnabled(bool enabled);
+        bool getSlave1FIFOEnabled();
+        void setSlave1FIFOEnabled(bool enabled);
+        bool getSlave0FIFOEnabled();
+        void setSlave0FIFOEnabled(bool enabled);
+
+        // I2C_MST_CTRL register
+        bool getMultiMasterEnabled();
+        void setMultiMasterEnabled(bool enabled);
+        bool getWaitForExternalSensorEnabled();
+        void setWaitForExternalSensorEnabled(bool enabled);
+        bool getSlave3FIFOEnabled();
+        void setSlave3FIFOEnabled(bool enabled);
+        bool getSlaveReadWriteTransitionEnabled();
+        void setSlaveReadWriteTransitionEnabled(bool enabled);
+        uint8_t getMasterClockSpeed();
+        void setMasterClockSpeed(uint8_t speed);
+
+        // I2C_SLV* registers (Slave 0-3)
+        uint8_t getSlaveAddress(uint8_t num);
+        void setSlaveAddress(uint8_t num, uint8_t address);
+        uint8_t getSlaveRegister(uint8_t num);
+        void setSlaveRegister(uint8_t num, uint8_t reg);
+        bool getSlaveEnabled(uint8_t num);
+        void setSlaveEnabled(uint8_t num, bool enabled);
+        bool getSlaveWordByteSwap(uint8_t num);
+        void setSlaveWordByteSwap(uint8_t num, bool enabled);
+        bool getSlaveWriteMode(uint8_t num);
+        void setSlaveWriteMode(uint8_t num, bool mode);
+        bool getSlaveWordGroupOffset(uint8_t num);
+        void setSlaveWordGroupOffset(uint8_t num, bool enabled);
+        uint8_t getSlaveDataLength(uint8_t num);
+        void setSlaveDataLength(uint8_t num, uint8_t length);
+
+        // I2C_SLV* registers (Slave 4)
+        uint8_t getSlave4Address();
+        void setSlave4Address(uint8_t address);
+        uint8_t getSlave4Register();
+        void setSlave4Register(uint8_t reg);
+        void setSlave4OutputByte(uint8_t data);
+        bool getSlave4Enabled();
+        void setSlave4Enabled(bool enabled);
+        bool getSlave4InterruptEnabled();
+        void setSlave4InterruptEnabled(bool enabled);
+        bool getSlave4WriteMode();
+        void setSlave4WriteMode(bool mode);
+        uint8_t getSlave4MasterDelay();
+        void setSlave4MasterDelay(uint8_t delay);
+        uint8_t getSlate4InputByte();
+
+        // I2C_MST_STATUS register
+        bool getPassthroughStatus();
+        bool getSlave4IsDone();
+        bool getLostArbitration();
+        bool getSlave4Nack();
+        bool getSlave3Nack();
+        bool getSlave2Nack();
+        bool getSlave1Nack();
+        bool getSlave0Nack();
+
+        // INT_PIN_CFG register
+        bool getInterruptMode();
+        void setInterruptMode(bool mode);
+        bool getInterruptDrive();
+        void setInterruptDrive(bool drive);
+        bool getInterruptLatch();
+        void setInterruptLatch(bool latch);
+        bool getInterruptLatchClear();
+        void setInterruptLatchClear(bool clear);
+        bool getFSyncInterruptLevel();
+        void setFSyncInterruptLevel(bool level);
+        bool getFSyncInterruptEnabled();
+        void setFSyncInterruptEnabled(bool enabled);
+        bool getI2CBypassEnabled();
+        void setI2CBypassEnabled(bool enabled);
+        bool getClockOutputEnabled();
+        void setClockOutputEnabled(bool enabled);
+
+        // INT_ENABLE register
+        uint8_t getIntEnabled();
+        void setIntEnabled(uint8_t enabled);
+        bool getIntFreefallEnabled();
+        void setIntFreefallEnabled(bool enabled);
+        bool getIntMotionEnabled();
+        void setIntMotionEnabled(bool enabled);
+        bool getIntZeroMotionEnabled();
+        void setIntZeroMotionEnabled(bool enabled);
+        bool getIntFIFOBufferOverflowEnabled();
+        void setIntFIFOBufferOverflowEnabled(bool enabled);
+        bool getIntI2CMasterEnabled();
+        void setIntI2CMasterEnabled(bool enabled);
+        bool getIntDataReadyEnabled();
+        void setIntDataReadyEnabled(bool enabled);
+
+        // INT_STATUS register
+        uint8_t getIntStatus();
+        bool getIntFreefallStatus();
+        bool getIntMotionStatus();
+        bool getIntZeroMotionStatus();
+        bool getIntFIFOBufferOverflowStatus();
+        bool getIntI2CMasterStatus();
+        bool getIntDataReadyStatus();
+
+        // ACCEL_*OUT_* registers
+        void getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz);
+        void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
+        void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
+        int16_t getAccelerationX();
+        int16_t getAccelerationY();
+        int16_t getAccelerationZ();
+
+        // TEMP_OUT_* registers
+        int16_t getTemperature();
+
+        // GYRO_*OUT_* registers
+        void getRotation(int16_t* x, int16_t* y, int16_t* z);
+        int16_t getRotationX();
+        int16_t getRotationY();
+        int16_t getRotationZ();
+
+        // MAG_*OUT_* registers
+        void getMag(int16_t* x, int16_t* y, int16_t* z);
+
+        // EXT_SENS_DATA_* registers
+        uint8_t getExternalSensorByte(int position);
+        uint16_t getExternalSensorWord(int position);
+        uint32_t getExternalSensorDWord(int position);
+
+        // MOT_DETECT_STATUS register
+        bool getXNegMotionDetected();
+        bool getXPosMotionDetected();
+        bool getYNegMotionDetected();
+        bool getYPosMotionDetected();
+        bool getZNegMotionDetected();
+        bool getZPosMotionDetected();
+        bool getZeroMotionDetected();
+
+        // I2C_SLV*_DO register
+        void setSlaveOutputByte(uint8_t num, uint8_t data);
+
+        // I2C_MST_DELAY_CTRL register
+        bool getExternalShadowDelayEnabled();
+        void setExternalShadowDelayEnabled(bool enabled);
+        bool getSlaveDelayEnabled(uint8_t num);
+        void setSlaveDelayEnabled(uint8_t num, bool enabled);
+
+        // SIGNAL_PATH_RESET register
+        void resetGyroscopePath();
+        void resetAccelerometerPath();
+        void resetTemperaturePath();
+
+        // MOT_DETECT_CTRL register
+        uint8_t getAccelerometerPowerOnDelay();
+        void setAccelerometerPowerOnDelay(uint8_t delay);
+        uint8_t getFreefallDetectionCounterDecrement();
+        void setFreefallDetectionCounterDecrement(uint8_t decrement);
+        uint8_t getMotionDetectionCounterDecrement();
+        void setMotionDetectionCounterDecrement(uint8_t decrement);
+
+        // USER_CTRL register
+        bool getFIFOEnabled();
+        void setFIFOEnabled(bool enabled);
+        bool getI2CMasterModeEnabled();
+        void setI2CMasterModeEnabled(bool enabled);
+        void switchSPIEnabled(bool enabled);
+        void resetFIFO();
+        void resetI2CMaster();
+        void resetSensors();
+
+        // PWR_MGMT_1 register
+        void reset();
+        bool getSleepEnabled();
+        void setSleepEnabled(bool enabled);
+        bool getWakeCycleEnabled();
+        void setWakeCycleEnabled(bool enabled);
+        bool getTempSensorEnabled();
+        void setTempSensorEnabled(bool enabled);
+        uint8_t getClockSource();
+        void setClockSource(uint8_t source);
+
+        // PWR_MGMT_2 register
+        uint8_t getWakeFrequency();
+        void setWakeFrequency(uint8_t frequency);
+        bool getStandbyXAccelEnabled();
+        void setStandbyXAccelEnabled(bool enabled);
+        bool getStandbyYAccelEnabled();
+        void setStandbyYAccelEnabled(bool enabled);
+        bool getStandbyZAccelEnabled();
+        void setStandbyZAccelEnabled(bool enabled);
+        bool getStandbyXGyroEnabled();
+        void setStandbyXGyroEnabled(bool enabled);
+        bool getStandbyYGyroEnabled();
+        void setStandbyYGyroEnabled(bool enabled);
+        bool getStandbyZGyroEnabled();
+        void setStandbyZGyroEnabled(bool enabled);
+
+        // FIFO_COUNT_* registers
+        uint16_t getFIFOCount();
+
+        // FIFO_R_W register
+        uint8_t getFIFOByte();
+        void setFIFOByte(uint8_t data);
+        void getFIFOBytes(uint8_t *data, uint8_t length);
+
+        // WHO_AM_I register
+        uint8_t getDeviceID();
+        void setDeviceID(uint8_t id);
+        
+        // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
+        
+        // XG_OFFS_TC register
+        uint8_t getOTPBankValid();
+        void setOTPBankValid(bool enabled);
+        int8_t getXGyroOffset();
+        void setXGyroOffset(int8_t offset);
+
+        // YG_OFFS_TC register
+        int8_t getYGyroOffset();
+        void setYGyroOffset(int8_t offset);
+
+        // ZG_OFFS_TC register
+        int8_t getZGyroOffset();
+        void setZGyroOffset(int8_t offset);
+
+        // X_FINE_GAIN register
+        int8_t getXFineGain();
+        void setXFineGain(int8_t gain);
+
+        // Y_FINE_GAIN register
+        int8_t getYFineGain();
+        void setYFineGain(int8_t gain);
+
+        // Z_FINE_GAIN register
+        int8_t getZFineGain();
+        void setZFineGain(int8_t gain);
+
+        // XA_OFFS_* registers
+        int16_t getXAccelOffset();
+        void setXAccelOffset(int16_t offset);
+
+        // YA_OFFS_* register
+        int16_t getYAccelOffset();
+        void setYAccelOffset(int16_t offset);
+
+        // ZA_OFFS_* register
+        int16_t getZAccelOffset();
+        void setZAccelOffset(int16_t offset);
+
+        // XG_OFFS_USR* registers
+        int16_t getXGyroOffsetUser();
+        void setXGyroOffsetUser(int16_t offset);
+
+        // YG_OFFS_USR* register
+        int16_t getYGyroOffsetUser();
+        void setYGyroOffsetUser(int16_t offset);
+
+        // ZG_OFFS_USR* register
+        int16_t getZGyroOffsetUser();
+        void setZGyroOffsetUser(int16_t offset);
+        
+        // INT_ENABLE register (DMP functions)
+        bool getIntPLLReadyEnabled();
+        void setIntPLLReadyEnabled(bool enabled);
+        bool getIntDMPEnabled();
+        void setIntDMPEnabled(bool enabled);
+        
+        // DMP_INT_STATUS
+        bool getDMPInt5Status();
+        bool getDMPInt4Status();
+        bool getDMPInt3Status();
+        bool getDMPInt2Status();
+        bool getDMPInt1Status();
+        bool getDMPInt0Status();
+
+        // INT_STATUS register (DMP functions)
+        bool getIntPLLReadyStatus();
+        bool getIntDMPStatus();
+        
+        // USER_CTRL register (DMP functions)
+        bool getDMPEnabled();
+        void setDMPEnabled(bool enabled);
+        void resetDMP();
+        
+        // BANK_SEL register
+        void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
+        
+        // MEM_START_ADDR register
+        void setMemoryStartAddress(uint8_t address);
+        
+        // MEM_R_W register
+        uint8_t readMemoryByte();
+        void writeMemoryByte(uint8_t data);
+        void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0);
+        bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false);
+        bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true);
+
+        bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false);
+        bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize);
+
+        // DMP_CFG_1 register
+        uint8_t getDMPConfig1();
+        void setDMPConfig1(uint8_t config);
+
+        // DMP_CFG_2 register
+        uint8_t getDMPConfig2();
+        void setDMPConfig2(uint8_t config);
+
+        // special methods for MotionApps 2.0 implementation
+        #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
+            uint8_t *dmpPacketBuffer;
+            uint16_t dmpPacketSize;
+
+            uint8_t dmpInitialize();
+            bool dmpPacketAvailable();
+
+            uint8_t dmpSetFIFORate(uint8_t fifoRate);
+            uint8_t dmpGetFIFORate();
+            uint8_t dmpGetSampleStepSizeMS();
+            uint8_t dmpGetSampleFrequency();
+            int32_t dmpDecodeTemperature(int8_t tempReg);
+            
+            // Register callbacks after a packet of FIFO data is processed
+            //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
+            //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
+            uint8_t dmpRunFIFORateProcesses();
+            
+            // Setup FIFO for various output
+            uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
+            uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
+            uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
+
+            // Get Fixed Point data from FIFO
+            uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);                  	
+            uint8_t dmpGetMag (VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
+            uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
+            uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
+            uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
+            uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
+            uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
+            
+            uint8_t dmpGetEuler(float *data, Quaternion *q);
+            uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
+
+            // Get Floating Point data from FIFO
+            uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
+
+            uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
+            uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
+
+            uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
+
+            uint8_t dmpInitFIFOParam();
+            uint8_t dmpCloseFIFO();
+            uint8_t dmpSetGyroDataSource(uint8_t source);
+            uint8_t dmpDecodeQuantizedAccel();
+            uint32_t dmpGetGyroSumOfSquare();
+            uint32_t dmpGetAccelSumOfSquare();
+            void dmpOverrideQuaternion(long *q);
+            uint16_t dmpGetFIFOPacketSize();
+        #endif
+
+        // special methods for MotionApps 4.1 implementation
+        #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41
+            uint8_t *dmpPacketBuffer;
+            uint16_t dmpPacketSize;
+
+            uint8_t dmpInitialize();
+            bool dmpPacketAvailable();
+
+            uint8_t dmpSetFIFORate(uint8_t fifoRate);
+            uint8_t dmpGetFIFORate();
+            uint8_t dmpGetSampleStepSizeMS();
+            uint8_t dmpGetSampleFrequency();
+            int32_t dmpDecodeTemperature(int8_t tempReg);
+            
+            // Register callbacks after a packet of FIFO data is processed
+            //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
+            //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
+            uint8_t dmpRunFIFORateProcesses();
+            
+            // Setup FIFO for various output
+            uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
+            uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
+            uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
+            uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
+
+            // Get Fixed Point data from FIFO
+            uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetMag(VectorInt16 *v, const uint8_t* packet=0);
+	    uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
+            uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
+            uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
+            uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
+            uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
+            uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
+            uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
+            
+            uint8_t dmpGetEuler(float *data, Quaternion *q);
+            uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
+
+            // Get Floating Point data from FIFO
+            uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
+            uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
+
+            uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
+            uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
+
+            uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
+
+            uint8_t dmpInitFIFOParam();
+            uint8_t dmpCloseFIFO();
+            uint8_t dmpSetGyroDataSource(uint8_t source);
+            uint8_t dmpDecodeQuantizedAccel();
+            uint32_t dmpGetGyroSumOfSquare();
+            uint32_t dmpGetAccelSumOfSquare();
+            void dmpOverrideQuaternion(long *q);
+            uint16_t dmpGetFIFOPacketSize();
+        #endif
+
+    private:
+        uint8_t devAddr;
+        uint8_t buffer[14];
+};
+
+#endif /* _MPU6050_H_ */
+
-- 
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