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MPU6050.cpp
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MPU6050.cpp
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// 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 <[email protected]>
// 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 "MPU6050.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];
}
/** Set gyroscope sample rate divider.
@param rate New sample rate divider
@see getRate()
@see MPU6050_RA_SMPLRT_DIV
*/
void MPU6050::setRate(uint8_t rate) {
I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
}
// CONFIG register
/** Get external FSYNC configuration.
Configures the external Frame Synchronization (FSYNC) pin sampling. An
external signal connected to the FSYNC pin can be sampled by configuring
EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
strobes may be captured. The latched FSYNC signal will be sampled at the
Sampling Rate, as defined in register 25. After sampling, the latch will
reset to the current FSYNC signal state.
The sampled value will be reported in place of the least significant bit in
a sensor data register determined by the value of EXT_SYNC_SET according to
the following table.
<pre>
EXT_SYNC_SET | FSYNC Bit Location
-------------+-------------------
0 | Input disabled
1 | TEMP_OUT_L[0]
2 | GYRO_XOUT_L[0]
3 | GYRO_YOUT_L[0]
4 | GYRO_ZOUT_L[0]
5 | ACCEL_XOUT_L[0]
6 | ACCEL_YOUT_L[0]
7 | ACCEL_ZOUT_L[0]
</pre>
@return FSYNC configuration value
*/
uint8_t MPU6050::getExternalFrameSync() {
I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
return buffer[0];
}
/** Set external FSYNC configuration.
@see getExternalFrameSync()
@see MPU6050_RA_CONFIG
@param sync New FSYNC configuration value
*/
void MPU6050::setExternalFrameSync(uint8_t sync) {
I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
}
/** Get digital low-pass filter configuration.
The DLPF_CFG parameter sets the digital low pass filter configuration. It
also determines the internal sampling rate used by the device as shown in
the table below.
Note: The accelerometer output rate is 1kHz. This means that for a Sample
Rate greater than 1kHz, the same accelerometer sample may be output to the
FIFO, DMP, and sensor registers more than once.
<pre>
| ACCELEROMETER | GYROSCOPE
DLPF_CFG | Bandwidth | Delay | Bandwidth | Delay | Sample Rate
---------+-----------+--------+-----------+--------+-------------
0 | 260Hz | 0ms | 256Hz | 0.98ms | 8kHz
1 | 184Hz | 2.0ms | 188Hz | 1.9ms | 1kHz
2 | 94Hz | 3.0ms | 98Hz | 2.8ms | 1kHz
3 | 44Hz | 4.9ms | 42Hz | 4.8ms | 1kHz
4 | 21Hz | 8.5ms | 20Hz | 8.3ms | 1kHz
5 | 10Hz | 13.8ms | 10Hz | 13.4ms | 1kHz
6 | 5Hz | 19.0ms | 5Hz | 18.6ms | 1kHz
7 | -- Reserved -- | -- Reserved -- | Reserved
</pre>
@return DLFP configuration
@see MPU6050_RA_CONFIG
@see MPU6050_CFG_DLPF_CFG_BIT
@see MPU6050_CFG_DLPF_CFG_LENGTH
*/
uint8_t MPU6050::getDLPFMode() {
I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
return buffer[0];
}
/** Set digital low-pass filter configuration.
@param mode New DLFP configuration setting
@see getDLPFBandwidth()
@see MPU6050_DLPF_BW_256
@see MPU6050_RA_CONFIG
@see MPU6050_CFG_DLPF_CFG_BIT
@see MPU6050_CFG_DLPF_CFG_LENGTH
*/
void MPU6050::setDLPFMode(uint8_t mode) {
I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
}
// GYRO_CONFIG register
/** Get full-scale gyroscope range.
The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
as described in the table below.
<pre>
0 = +/- 250 degrees/sec
1 = +/- 500 degrees/sec
2 = +/- 1000 degrees/sec
3 = +/- 2000 degrees/sec
</pre>
@return Current full-scale gyroscope range setting
@see MPU6050_GYRO_FS_250
@see MPU6050_RA_GYRO_CONFIG
@see MPU6050_GCONFIG_FS_SEL_BIT
@see MPU6050_GCONFIG_FS_SEL_LENGTH
*/
uint8_t MPU6050::getFullScaleGyroRange() {
I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
return buffer[0];
}
/** Set full-scale gyroscope range.
@param range New full-scale gyroscope range value
@see getFullScaleRange()
@see MPU6050_GYRO_FS_250
@see MPU6050_RA_GYRO_CONFIG
@see MPU6050_GCONFIG_FS_SEL_BIT
@see MPU6050_GCONFIG_FS_SEL_LENGTH
*/
void MPU6050::setFullScaleGyroRange(uint8_t range) {
I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
}
// ACCEL_CONFIG register
/** Get self-test enabled setting for accelerometer X axis.
@return Self-test enabled value
@see MPU6050_RA_ACCEL_CONFIG
*/
bool MPU6050::getAccelXSelfTest() {
I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
return buffer[0];
}
/** Get self-test enabled setting for accelerometer X axis.
@param enabled Self-test enabled value
@see MPU6050_RA_ACCEL_CONFIG
*/
void MPU6050::setAccelXSelfTest(bool enabled) {
I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
}
/** Get self-test enabled value for accelerometer Y axis.
@return Self-test enabled value
@see MPU6050_RA_ACCEL_CONFIG
*/
bool MPU6050::getAccelYSelfTest() {
I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
return buffer[0];
}
/** Get self-test enabled value for accelerometer Y axis.
@param enabled Self-test enabled value
@see MPU6050_RA_ACCEL_CONFIG
*/
void MPU6050::setAccelYSelfTest(bool enabled) {
I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
}
/** Get self-test enabled value for accelerometer Z axis.
@return Self-test enabled value
@see MPU6050_RA_ACCEL_CONFIG
*/
bool MPU6050::getAccelZSelfTest() {
I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
return buffer[0];
}
/** Set self-test enabled value for accelerometer Z axis.
@param enabled Self-test enabled value
@see MPU6050_RA_ACCEL_CONFIG
*/
void MPU6050::setAccelZSelfTest(bool enabled) {
I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
}
/** Get full-scale accelerometer range.
The FS_SEL parameter allows setting the full-scale range of the accelerometer
sensors, as described in the table below.
<pre>
0 = +/- 2g
1 = +/- 4g
2 = +/- 8g
3 = +/- 16g
</pre>
@return Current full-scale accelerometer range setting
@see MPU6050_ACCEL_FS_2
@see MPU6050_RA_ACCEL_CONFIG
@see MPU6050_ACONFIG_AFS_SEL_BIT
@see MPU6050_ACONFIG_AFS_SEL_LENGTH
*/
uint8_t MPU6050::getFullScaleAccelRange() {
I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
return buffer[0];
}
/** Set full-scale accelerometer range.
@param range New full-scale accelerometer range setting
@see getFullScaleAccelRange()
*/
void MPU6050::setFullScaleAccelRange(uint8_t range) {
I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
}
/** Get the high-pass filter configuration.
The DHPF is a filter module in the path leading to motion detectors (Free
Fall, Motion threshold, and Zero Motion). The high pass filter output is not
available to the data registers (see Figure in Section 8 of the MPU-6000/
MPU-6050 Product Specification document).
The high pass filter has three modes:
<pre>
Reset: The filter output settles to zero within one sample. This
effectively disables the high pass filter. This mode may be toggled
to quickly settle the filter.
On: The high pass filter will pass signals above the cut off frequency.
Hold: When triggered, the filter holds the present sample. The filter
output will be the difference between the input sample and the held
sample.
</pre>
<pre>
ACCEL_HPF | Filter Mode | Cut-off Frequency
----------+-------------+------------------
0 | Reset | None
1 | On | 5Hz
2 | On | 2.5Hz
3 | On | 1.25Hz
4 | On | 0.63Hz
7 | Hold | None
</pre>
@return Current high-pass filter configuration
@see MPU6050_DHPF_RESET
@see MPU6050_RA_ACCEL_CONFIG
*/
uint8_t MPU6050::getDHPFMode() {
I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH,
buffer);
return buffer[0];
}
/** Set the high-pass filter configuration.
@param bandwidth New high-pass filter configuration
@see setDHPFMode()
@see MPU6050_DHPF_RESET
@see MPU6050_RA_ACCEL_CONFIG
*/
void MPU6050::setDHPFMode(uint8_t bandwidth) {
I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH,
bandwidth);
}
// FF_THR register
/** Get free-fall event acceleration threshold.
This register configures the detection threshold for Free Fall event
detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
absolute value of the accelerometer measurements for the three axes are each
less than the detection threshold. This condition increments the Free Fall
duration counter (Register 30). The Free Fall interrupt is triggered when the
Free Fall duration counter reaches the time specified in FF_DUR.
For more details on the Free Fall detection interrupt, see Section 8.2 of the
MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
58 of this document.
@return Current free-fall acceleration threshold value (LSB = 2mg)
@see MPU6050_RA_FF_THR
*/
uint8_t MPU6050::getFreefallDetectionThreshold() {
I2Cdev::readByte(devAddr, MPU6050_RA_FF_THR, buffer);
return buffer[0];
}
/** Get free-fall event acceleration threshold.
@param threshold New free-fall acceleration threshold value (LSB = 2mg)
@see getFreefallDetectionThreshold()
@see MPU6050_RA_FF_THR
*/
void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) {
I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
}
// FF_DUR register
/** Get free-fall event duration threshold.
This register configures the duration counter threshold for Free Fall event
detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
of 1 LSB = 1 ms.
The Free Fall duration counter increments while the absolute value of the
accelerometer measurements are each less than the detection threshold
(Register 29). The Free Fall interrupt is triggered when the Free Fall
duration counter reaches the time specified in this register.
For more details on the Free Fall detection interrupt, see Section 8.2 of
the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
and 58 of this document.
@return Current free-fall duration threshold value (LSB = 1ms)
@see MPU6050_RA_FF_DUR
*/
uint8_t MPU6050::getFreefallDetectionDuration() {
I2Cdev::readByte(devAddr, MPU6050_RA_FF_DUR, buffer);
return buffer[0];
}
/** Get free-fall event duration threshold.
@param duration New free-fall duration threshold value (LSB = 1ms)
@see getFreefallDetectionDuration()
@see MPU6050_RA_FF_DUR
*/
void MPU6050::setFreefallDetectionDuration(uint8_t duration) {
I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
}
// MOT_THR register
/** Get motion detection event acceleration threshold.
This register configures the detection threshold for Motion interrupt
generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
absolute value of any of the accelerometer measurements exceeds this Motion
detection threshold. This condition increments the Motion detection duration
counter (Register 32). The Motion detection interrupt is triggered when the
Motion Detection counter reaches the time count specified in MOT_DUR
(Register 32).
The Motion interrupt will indicate the axis and polarity of detected motion
in MOT_DETECT_STATUS (Register 97).
For more details on the Motion detection interrupt, see Section 8.3 of the
MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and
58 of this document.
@return Current motion detection acceleration threshold value (LSB = 2mg)
@see MPU6050_RA_MOT_THR
*/
uint8_t MPU6050::getMotionDetectionThreshold() {
I2Cdev::readByte(devAddr, MPU6050_RA_MOT_THR, buffer);
return buffer[0];
}
/** Set free-fall event acceleration threshold.
@param threshold New motion detection acceleration threshold value (LSB = 2mg)
@see getMotionDetectionThreshold()
@see MPU6050_RA_MOT_THR
*/
void MPU6050::setMotionDetectionThreshold(uint8_t threshold) {
I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
}
// MOT_DUR register
/** Get motion detection event duration threshold.
This register configures the duration counter threshold for Motion interrupt
generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
of 1LSB = 1ms. The Motion detection duration counter increments when the
absolute value of any of the accelerometer measurements exceeds the Motion
detection threshold (Register 31). The Motion detection interrupt is
triggered when the Motion detection counter reaches the time count specified
in this register.
For more details on the Motion detection interrupt, see Section 8.3 of the
MPU-6000/MPU-6050 Product Specification document.
@return Current motion detection duration threshold value (LSB = 1ms)
@see MPU6050_RA_MOT_DUR
*/
uint8_t MPU6050::getMotionDetectionDuration() {
I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DUR, buffer);
return buffer[0];
}
/** Set motion detection event duration threshold.
@param duration New motion detection duration threshold value (LSB = 1ms)
@see getMotionDetectionDuration()
@see MPU6050_RA_MOT_DUR
*/
void MPU6050::setMotionDetectionDuration(uint8_t duration) {
I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
}
// ZRMOT_THR register
/** Get zero motion detection event acceleration threshold.
This register configures the detection threshold for Zero Motion interrupt
generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
the absolute value of the accelerometer measurements for the 3 axes are each
less than the detection threshold. This condition increments the Zero Motion
duration counter (Register 34). The Zero Motion interrupt is triggered when
the Zero Motion duration counter reaches the time count specified in
ZRMOT_DUR (Register 34).
Unlike Free Fall or Motion detection, Zero Motion detection triggers an
interrupt both when Zero Motion is first detected and when Zero Motion is no
longer detected.
When a zero motion event is detected, a Zero Motion Status will be indicated
in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
condition is detected, the status bit is set to 1. When a zero-motion-to-
motion condition is detected, the status bit is set to 0.
For more details on the Zero Motion detection interrupt, see Section 8.4 of
the MPU-6000/MPU-6050 Product Specification document as well as Registers 56
and 58 of this document.
@return Current zero motion detection acceleration threshold value (LSB = 2mg)
@see MPU6050_RA_ZRMOT_THR
*/
uint8_t MPU6050::getZeroMotionDetectionThreshold() {
I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer);
return buffer[0];
}
/** Set zero motion detection event acceleration threshold.
@param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
@see getZeroMotionDetectionThreshold()
@see MPU6050_RA_ZRMOT_THR
*/
void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) {
I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
}
// ZRMOT_DUR register
/** Get zero motion detection event duration threshold.
This register configures the duration counter threshold for Zero Motion
interrupt generation. The duration counter ticks at 16 Hz, therefore
ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
increments while the absolute value of the accelerometer measurements are
each less than the detection threshold (Register 33). The Zero Motion
interrupt is triggered when the Zero Motion duration counter reaches the time
count specified in this register.
For more details on the Zero Motion detection interrupt, see Section 8.4 of
the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56
and 58 of this document.
@return Current zero motion detection duration threshold value (LSB = 64ms)
@see MPU6050_RA_ZRMOT_DUR
*/
uint8_t MPU6050::getZeroMotionDetectionDuration() {
I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
return buffer[0];
}
/** Set zero motion detection event duration threshold.
@param duration New zero motion detection duration threshold value (LSB = 1ms)
@see getZeroMotionDetectionDuration()
@see MPU6050_RA_ZRMOT_DUR
*/
void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) {
I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
}
// FIFO_EN register
/** Get temperature FIFO enabled value.
When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
66) to be written into the FIFO buffer.
@return Current temperature FIFO enabled value
@see MPU6050_RA_FIFO_EN
*/
bool MPU6050::getTempFIFOEnabled() {
I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set temperature FIFO enabled value.
@param enabled New temperature FIFO enabled value
@see getTempFIFOEnabled()
@see MPU6050_RA_FIFO_EN
*/
void MPU6050::setTempFIFOEnabled(bool enabled) {
I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
}
/** Get gyroscope X-axis FIFO enabled value.
When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
68) to be written into the FIFO buffer.
@return Current gyroscope X-axis FIFO enabled value
@see MPU6050_RA_FIFO_EN
*/
bool MPU6050::getXGyroFIFOEnabled() {
I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope X-axis FIFO enabled value.
@param enabled New gyroscope X-axis FIFO enabled value
@see getXGyroFIFOEnabled()
@see MPU6050_RA_FIFO_EN
*/
void MPU6050::setXGyroFIFOEnabled(bool enabled) {
I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
}
/** Get gyroscope Y-axis FIFO enabled value.
When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
70) to be written into the FIFO buffer.
@return Current gyroscope Y-axis FIFO enabled value
@see MPU6050_RA_FIFO_EN
*/
bool MPU6050::getYGyroFIFOEnabled() {
I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope Y-axis FIFO enabled value.
@param enabled New gyroscope Y-axis FIFO enabled value
@see getYGyroFIFOEnabled()
@see MPU6050_RA_FIFO_EN
*/
void MPU6050::setYGyroFIFOEnabled(bool enabled) {
I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
}
/** Get gyroscope Z-axis FIFO enabled value.
When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
72) to be written into the FIFO buffer.
@return Current gyroscope Z-axis FIFO enabled value
@see MPU6050_RA_FIFO_EN
*/
bool MPU6050::getZGyroFIFOEnabled() {
I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope Z-axis FIFO enabled value.
@param enabled New gyroscope Z-axis FIFO enabled value
@see getZGyroFIFOEnabled()
@see MPU6050_RA_FIFO_EN
*/
void MPU6050::setZGyroFIFOEnabled(bool enabled) {
I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
}
/** Get accelerometer FIFO enabled value.
When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
written into the FIFO buffer.
@return Current accelerometer FIFO enabled value
@see MPU6050_RA_FIFO_EN
*/
bool MPU6050::getAccelFIFOEnabled() {
I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set accelerometer FIFO enabled value.
@param enabled New accelerometer FIFO enabled value
@see getAccelFIFOEnabled()
@see MPU6050_RA_FIFO_EN
*/
void MPU6050::setAccelFIFOEnabled(bool enabled) {
I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
}
/** Get Slave 2 FIFO enabled value.
When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
associated with Slave 2 to be written into the FIFO buffer.
@return Current Slave 2 FIFO enabled value
@see MPU6050_RA_FIFO_EN
*/
bool MPU6050::getSlave2FIFOEnabled() {
I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 2 FIFO enabled value.
@param enabled New Slave 2 FIFO enabled value
@see getSlave2FIFOEnabled()
@see MPU6050_RA_FIFO_EN
*/
void MPU6050::setSlave2FIFOEnabled(bool enabled) {
I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
}
/** Get Slave 1 FIFO enabled value.
When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
associated with Slave 1 to be written into the FIFO buffer.
@return Current Slave 1 FIFO enabled value
@see MPU6050_RA_FIFO_EN
*/
bool MPU6050::getSlave1FIFOEnabled() {
I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 1 FIFO enabled value.
@param enabled New Slave 1 FIFO enabled value
@see getSlave1FIFOEnabled()
@see MPU6050_RA_FIFO_EN
*/
void MPU6050::setSlave1FIFOEnabled(bool enabled) {
I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
}
/** Get Slave 0 FIFO enabled value.
When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
associated with Slave 0 to be written into the FIFO buffer.
@return Current Slave 0 FIFO enabled value
@see MPU6050_RA_FIFO_EN
*/
bool MPU6050::getSlave0FIFOEnabled() {
I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 0 FIFO enabled value.
@param enabled New Slave 0 FIFO enabled value
@see getSlave0FIFOEnabled()
@see MPU6050_RA_FIFO_EN
*/
void MPU6050::setSlave0FIFOEnabled(bool enabled) {
I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
}
// I2C_MST_CTRL register
/** Get multi-master enabled value.
Multi-master capability allows multiple I2C masters to operate on the same
bus. In circuits where multi-master capability is required, set MULT_MST_EN
to 1. This will increase current drawn by approximately 30uA.
In circuits where multi-master capability is required, the state of the I2C
bus must always be monitored by each separate I2C Master. Before an I2C
Master can assume arbitration of the bus, it must first confirm that no other
I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
MPU-60X0's bus arbitration detection logic is turned on, enabling it to
detect when the bus is available.
@return Current multi-master enabled value
@see MPU6050_RA_I2C_MST_CTRL
*/
bool MPU6050::getMultiMasterEnabled() {
I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
return buffer[0];
}
/** Set multi-master enabled value.
@param enabled New multi-master enabled value
@see getMultiMasterEnabled()
@see MPU6050_RA_I2C_MST_CTRL
*/
void MPU6050::setMultiMasterEnabled(bool enabled) {
I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
}
/** Get wait-for-external-sensor-data enabled value.
When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
delayed until External Sensor data from the Slave Devices are loaded into the
EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
data (i.e. from gyro and accel) and external sensor data have been loaded to
their respective data registers (i.e. the data is synced) when the Data Ready
interrupt is triggered.
@return Current wait-for-external-sensor-data enabled value
@see MPU6050_RA_I2C_MST_CTRL
*/
bool MPU6050::getWaitForExternalSensorEnabled() {
I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
return buffer[0];
}
/** Set wait-for-external-sensor-data enabled value.
@param enabled New wait-for-external-sensor-data enabled value
@see getWaitForExternalSensorEnabled()
@see MPU6050_RA_I2C_MST_CTRL
*/
void MPU6050::setWaitForExternalSensorEnabled(bool enabled) {
I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
}
/** Get Slave 3 FIFO enabled value.
When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
associated with Slave 3 to be written into the FIFO buffer.
@return Current Slave 3 FIFO enabled value
@see MPU6050_RA_MST_CTRL
*/
bool MPU6050::getSlave3FIFOEnabled() {
I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 3 FIFO enabled value.
@param enabled New Slave 3 FIFO enabled value
@see getSlave3FIFOEnabled()
@see MPU6050_RA_MST_CTRL
*/
void MPU6050::setSlave3FIFOEnabled(bool enabled) {
I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
}
/** Get slave read/write transition enabled value.
The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
read to the next slave read. If the bit equals 0, there will be a restart
between reads. If the bit equals 1, there will be a stop followed by a start
of the following read. When a write transaction follows a read transaction,
the stop followed by a start of the successive write will be always used.
@return Current slave read/write transition enabled value
@see MPU6050_RA_I2C_MST_CTRL
*/
bool MPU6050::getSlaveReadWriteTransitionEnabled() {
I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
return buffer[0];
}
/** Set slave read/write transition enabled value.
@param enabled New slave read/write transition enabled value
@see getSlaveReadWriteTransitionEnabled()
@see MPU6050_RA_I2C_MST_CTRL
*/
void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) {
I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
}
/** Get I2C master clock speed.
I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
the following table:
<pre>
I2C_MST_CLK | I2C Master Clock Speed | 8MHz Clock Divider
------------+------------------------+-------------------
0 | 348kHz | 23
1 | 333kHz | 24
2 | 320kHz | 25
3 | 308kHz | 26
4 | 296kHz | 27
5 | 286kHz | 28
6 | 276kHz | 29
7 | 267kHz | 30
8 | 258kHz | 31
9 | 500kHz | 16
10 | 471kHz | 17
11 | 444kHz | 18
12 | 421kHz | 19
13 | 400kHz | 20
14 | 381kHz | 21
15 | 364kHz | 22
</pre>
@return Current I2C master clock speed
@see MPU6050_RA_I2C_MST_CTRL
*/
uint8_t MPU6050::getMasterClockSpeed() {
I2Cdev::readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer);
return buffer[0];
}
/** Set I2C master clock speed.
@reparam speed Current I2C master clock speed
@see MPU6050_RA_I2C_MST_CTRL
*/
void MPU6050::setMasterClockSpeed(uint8_t speed) {
I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
}
// I2C_SLV* registers (Slave 0-3)
/** Get the I2C address of the specified slave (0-3).
Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
operation, and if it is cleared, then it's a write operation. The remaining
bits (6-0) are the 7-bit device address of the slave device.
In read mode, the result of the read is placed in the lowest available
EXT_SENS_DATA register. For further information regarding the allocation of
read results, please refer to the EXT_SENS_DATA register description
(Registers 73 - 96).
The MPU-6050 supports a total of five slaves, but Slave 4 has unique
characteristics, and so it has its own functions (getSlave4* and setSlave4*).
I2C data transactions are performed at the Sample Rate, as defined in
Register 25. The user is responsible for ensuring that I2C data transactions
to and from each enabled Slave can be completed within a single period of the
Sample Rate.
The I2C slave access rate can be reduced relative to the Sample Rate. This
reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
slave's access rate is reduced relative to the Sample Rate is determined by
I2C_MST_DELAY_CTRL (Register 103).
The processing order for the slaves is fixed. The sequence followed for
processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
particular Slave is disabled it will be skipped.
Each slave can either be accessed at the sample rate or at a reduced sample
rate. In a case where some slaves are accessed at the Sample Rate and some
slaves are accessed at the reduced rate, the sequence of accessing the slaves
(Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
be skipped if their access rate dictates that they should not be accessed
during that particular cycle. For further information regarding the reduced
access rate, please refer to Register 52. Whether a slave is accessed at the
Sample Rate or at the reduced rate is determined by the Delay Enable bits in
Register 103.
@param num Slave number (0-3)
@return Current address for specified slave
@see MPU6050_RA_I2C_SLV0_ADDR
*/
uint8_t MPU6050::getSlaveAddress(uint8_t num) {
if (num > 3) {
return 0;
}
I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num * 3, buffer);
return buffer[0];
}
/** Set the I2C address of the specified slave (0-3).
@param num Slave number (0-3)
@param address New address for specified slave
@see getSlaveAddress()
@see MPU6050_RA_I2C_SLV0_ADDR
*/
void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) {
if (num > 3) {
return;
}
I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num * 3, address);
}
/** Get the active internal register for the specified slave (0-3).
Read/write operations for this slave will be done to whatever internal
register address is stored in this MPU register.
The MPU-6050 supports a total of five slaves, but Slave 4 has unique
characteristics, and so it has its own functions.
@param num Slave number (0-3)
@return Current active register for specified slave
@see MPU6050_RA_I2C_SLV0_REG
*/
uint8_t MPU6050::getSlaveRegister(uint8_t num) {
if (num > 3) {
return 0;
}
I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num * 3, buffer);
return buffer[0];
}
/** Set the active internal register for the specified slave (0-3).
@param num Slave number (0-3)
@param reg New active register for specified slave
@see getSlaveRegister()
@see MPU6050_RA_I2C_SLV0_REG
*/
void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) {
if (num > 3) {
return;
}
I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num * 3, reg);
}
/** Get the enabled value for the specified slave (0-3).
When set to 1, this bit enables Slave 0 for data transfer operations. When
cleared to 0, this bit disables Slave 0 from data transfer operations.
@param num Slave number (0-3)
@return Current enabled value for specified slave
@see MPU6050_RA_I2C_SLV0_CTRL
*/
bool MPU6050::getSlaveEnabled(uint8_t num) {
if (num > 3) {
return 0;
}
I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_EN_BIT, buffer);
return buffer[0];
}
/** Set the enabled value for the specified slave (0-3).
@param num Slave number (0-3)
@param enabled New enabled value for specified slave
@see getSlaveEnabled()
@see MPU6050_RA_I2C_SLV0_CTRL
*/
void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) {
if (num > 3) {
return;
}
I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_EN_BIT, enabled);
}
/** Get word pair byte-swapping enabled for the specified slave (0-3).
When set to 1, this bit enables byte swapping. When byte swapping is enabled,
the high and low bytes of a word pair are swapped. Please refer to
I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
registers in the order they were transferred.
@param num Slave number (0-3)
@return Current word pair byte-swapping enabled value for specified slave
@see MPU6050_RA_I2C_SLV0_CTRL
*/
bool MPU6050::getSlaveWordByteSwap(uint8_t num) {
if (num > 3) {
return 0;
}
I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer);
return buffer[0];
}
/** Set word pair byte-swapping enabled for the specified slave (0-3).
@param num Slave number (0-3)
@param enabled New word pair byte-swapping enabled value for specified slave
@see getSlaveWordByteSwap()
@see MPU6050_RA_I2C_SLV0_CTRL