MPU9150 - Lib for MPU9150/9250 IMU sensors

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Lib for MPU9150/9250 IMU sensors

MPU9150.cpp@0:ab00d9bcd00d, 2017-04-24 (annotated)

Committer:: JojoS
Date:: Mon Apr 24 16:21:35 2017 +0000
Revision:: 0:ab00d9bcd00d

modified for mbed

Who changed what in which revision?

User	Revision	Line number	New contents of line
JojoS	0:ab00d9bcd00d	1	// I2Cdev library collection - MPU9150 I2C device class
JojoS	0:ab00d9bcd00d	2	// Based on InvenSense MPU-9150 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
JojoS	0:ab00d9bcd00d	3	// 8/24/2011 by Jeff Rowberg <jeff@rowberg.net>
JojoS	0:ab00d9bcd00d	4	// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
JojoS	0:ab00d9bcd00d	5	//
JojoS	0:ab00d9bcd00d	6	// Changelog:
JojoS	0:ab00d9bcd00d	7	// ... - ongoing debug release
JojoS	0:ab00d9bcd00d	8
JojoS	0:ab00d9bcd00d	9	// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
JojoS	0:ab00d9bcd00d	10	// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
JojoS	0:ab00d9bcd00d	11	// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
JojoS	0:ab00d9bcd00d	12
JojoS	0:ab00d9bcd00d	13	/* ============================================
JojoS	0:ab00d9bcd00d	14	I2Cdev device library code is placed under the MIT license
JojoS	0:ab00d9bcd00d	15	Copyright (c) 2012 Jeff Rowberg
JojoS	0:ab00d9bcd00d	16
JojoS	0:ab00d9bcd00d	17	Permission is hereby granted, free of charge, to any person obtaining a copy
JojoS	0:ab00d9bcd00d	18	of this software and associated documentation files (the "Software"), to deal
JojoS	0:ab00d9bcd00d	19	in the Software without restriction, including without limitation the rights
JojoS	0:ab00d9bcd00d	20	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
JojoS	0:ab00d9bcd00d	21	copies of the Software, and to permit persons to whom the Software is
JojoS	0:ab00d9bcd00d	22	furnished to do so, subject to the following conditions:
JojoS	0:ab00d9bcd00d	23
JojoS	0:ab00d9bcd00d	24	The above copyright notice and this permission notice shall be included in
JojoS	0:ab00d9bcd00d	25	all copies or substantial portions of the Software.
JojoS	0:ab00d9bcd00d	26
JojoS	0:ab00d9bcd00d	27	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
JojoS	0:ab00d9bcd00d	28	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
JojoS	0:ab00d9bcd00d	29	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
JojoS	0:ab00d9bcd00d	30	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
JojoS	0:ab00d9bcd00d	31	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
JojoS	0:ab00d9bcd00d	32	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
JojoS	0:ab00d9bcd00d	33	THE SOFTWARE.
JojoS	0:ab00d9bcd00d	34	===============================================
JojoS	0:ab00d9bcd00d	35	*/
JojoS	0:ab00d9bcd00d	36
JojoS	0:ab00d9bcd00d	37	#include "MPU9150.h"
JojoS	0:ab00d9bcd00d	38
JojoS	0:ab00d9bcd00d	39	/** Default constructor, uses default I2C address.
JojoS	0:ab00d9bcd00d	40	* @see MPU9150_DEFAULT_ADDRESS
JojoS	0:ab00d9bcd00d	41	*/
JojoS	0:ab00d9bcd00d	42	MPU9150::MPU9150(I2Cdev &dev) : i2Cdev(dev) {
JojoS	0:ab00d9bcd00d	43	devAddr = MPU9150_DEFAULT_ADDRESS;
JojoS	0:ab00d9bcd00d	44	}
JojoS	0:ab00d9bcd00d	45
JojoS	0:ab00d9bcd00d	46	/** Specific address constructor.
JojoS	0:ab00d9bcd00d	47	* @param address I2C address
JojoS	0:ab00d9bcd00d	48	* @see MPU9150_DEFAULT_ADDRESS
JojoS	0:ab00d9bcd00d	49	* @see MPU9150_ADDRESS_AD0_LOW
JojoS	0:ab00d9bcd00d	50	* @see MPU9150_ADDRESS_AD0_HIGH
JojoS	0:ab00d9bcd00d	51	*/
JojoS	0:ab00d9bcd00d	52	MPU9150::MPU9150(I2Cdev &dev, uint8_t address) : i2Cdev(dev) {
JojoS	0:ab00d9bcd00d	53	devAddr = address;
JojoS	0:ab00d9bcd00d	54	}
JojoS	0:ab00d9bcd00d	55
JojoS	0:ab00d9bcd00d	56	/** Power on and prepare for general usage.
JojoS	0:ab00d9bcd00d	57	* This will activate the device and take it out of sleep mode (which must be done
JojoS	0:ab00d9bcd00d	58	* after start-up). This function also sets both the accelerometer and the gyroscope
JojoS	0:ab00d9bcd00d	59	* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
JojoS	0:ab00d9bcd00d	60	* the clock source to use the X Gyro for reference, which is slightly better than
JojoS	0:ab00d9bcd00d	61	* the default internal clock source.
JojoS	0:ab00d9bcd00d	62	*/
JojoS	0:ab00d9bcd00d	63	void MPU9150::initialize() {
JojoS	0:ab00d9bcd00d	64	setClockSource(MPU9150_CLOCK_PLL_XGYRO);
JojoS	0:ab00d9bcd00d	65	setFullScaleGyroRange(MPU9150_GYRO_FS_250);
JojoS	0:ab00d9bcd00d	66	setFullScaleAccelRange(MPU9150_ACCEL_FS_2);
JojoS	0:ab00d9bcd00d	67	setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
JojoS	0:ab00d9bcd00d	68	}
JojoS	0:ab00d9bcd00d	69
JojoS	0:ab00d9bcd00d	70	/** Verify the I2C connection.
JojoS	0:ab00d9bcd00d	71	* Make sure the device is connected and responds as expected.
JojoS	0:ab00d9bcd00d	72	* @return True if connection is valid, false otherwise
JojoS	0:ab00d9bcd00d	73	*/
JojoS	0:ab00d9bcd00d	74	bool MPU9150::testConnection() {
JojoS	0:ab00d9bcd00d	75	return getDeviceID() == 0x34;
JojoS	0:ab00d9bcd00d	76	}
JojoS	0:ab00d9bcd00d	77
JojoS	0:ab00d9bcd00d	78	// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
JojoS	0:ab00d9bcd00d	79
JojoS	0:ab00d9bcd00d	80	/** Get the auxiliary I2C supply voltage level.
JojoS	0:ab00d9bcd00d	81	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
JojoS	0:ab00d9bcd00d	82	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
JojoS	0:ab00d9bcd00d	83	* the MPU-6000, which does not have a VLOGIC pin.
JojoS	0:ab00d9bcd00d	84	* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
JojoS	0:ab00d9bcd00d	85	*/
JojoS	0:ab00d9bcd00d	86	uint8_t MPU9150::getAuxVDDIOLevel() {
JojoS	0:ab00d9bcd00d	87	i2Cdev.readBit(devAddr, MPU9150_RA_YG_OFFS_TC, MPU9150_TC_PWR_MODE_BIT, buffer);
JojoS	0:ab00d9bcd00d	88	return buffer[0];
JojoS	0:ab00d9bcd00d	89	}
JojoS	0:ab00d9bcd00d	90	/** Set the auxiliary I2C supply voltage level.
JojoS	0:ab00d9bcd00d	91	* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
JojoS	0:ab00d9bcd00d	92	* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
JojoS	0:ab00d9bcd00d	93	* the MPU-6000, which does not have a VLOGIC pin.
JojoS	0:ab00d9bcd00d	94	* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
JojoS	0:ab00d9bcd00d	95	*/
JojoS	0:ab00d9bcd00d	96	void MPU9150::setAuxVDDIOLevel(uint8_t level) {
JojoS	0:ab00d9bcd00d	97	i2Cdev.writeBit(devAddr, MPU9150_RA_YG_OFFS_TC, MPU9150_TC_PWR_MODE_BIT, level);
JojoS	0:ab00d9bcd00d	98	}
JojoS	0:ab00d9bcd00d	99
JojoS	0:ab00d9bcd00d	100	// SMPLRT_DIV register
JojoS	0:ab00d9bcd00d	101
JojoS	0:ab00d9bcd00d	102	/** Get gyroscope output rate divider.
JojoS	0:ab00d9bcd00d	103	* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
JojoS	0:ab00d9bcd00d	104	* Motion detection, and Free Fall detection are all based on the Sample Rate.
JojoS	0:ab00d9bcd00d	105	* The Sample Rate is generated by dividing the gyroscope output rate by
JojoS	0:ab00d9bcd00d	106	* SMPLRT_DIV:
JojoS	0:ab00d9bcd00d	107	*
JojoS	0:ab00d9bcd00d	108	* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
JojoS	0:ab00d9bcd00d	109	*
JojoS	0:ab00d9bcd00d	110	* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
JojoS	0:ab00d9bcd00d	111	* 7), and 1kHz when the DLPF is enabled (see Register 26).
JojoS	0:ab00d9bcd00d	112	*
JojoS	0:ab00d9bcd00d	113	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
JojoS	0:ab00d9bcd00d	114	* Rate greater than 1kHz, the same accelerometer sample may be output to the
JojoS	0:ab00d9bcd00d	115	* FIFO, DMP, and sensor registers more than once.
JojoS	0:ab00d9bcd00d	116	*
JojoS	0:ab00d9bcd00d	117	* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
JojoS	0:ab00d9bcd00d	118	* of the MPU-6000/MPU-9150 Product Specification document.
JojoS	0:ab00d9bcd00d	119	*
JojoS	0:ab00d9bcd00d	120	* @return Current sample rate
JojoS	0:ab00d9bcd00d	121	* @see MPU9150_RA_SMPLRT_DIV
JojoS	0:ab00d9bcd00d	122	*/
JojoS	0:ab00d9bcd00d	123	uint8_t MPU9150::getRate() {
JojoS	0:ab00d9bcd00d	124	i2Cdev.readByte(devAddr, MPU9150_RA_SMPLRT_DIV, buffer);
JojoS	0:ab00d9bcd00d	125	return buffer[0];
JojoS	0:ab00d9bcd00d	126	}
JojoS	0:ab00d9bcd00d	127	/** Set gyroscope sample rate divider.
JojoS	0:ab00d9bcd00d	128	* @param rate New sample rate divider
JojoS	0:ab00d9bcd00d	129	* @see getRate()
JojoS	0:ab00d9bcd00d	130	* @see MPU9150_RA_SMPLRT_DIV
JojoS	0:ab00d9bcd00d	131	*/
JojoS	0:ab00d9bcd00d	132	void MPU9150::setRate(uint8_t rate) {
JojoS	0:ab00d9bcd00d	133	i2Cdev.writeByte(devAddr, MPU9150_RA_SMPLRT_DIV, rate);
JojoS	0:ab00d9bcd00d	134	}
JojoS	0:ab00d9bcd00d	135
JojoS	0:ab00d9bcd00d	136	// CONFIG register
JojoS	0:ab00d9bcd00d	137
JojoS	0:ab00d9bcd00d	138	/** Get external FSYNC configuration.
JojoS	0:ab00d9bcd00d	139	* Configures the external Frame Synchronization (FSYNC) pin sampling. An
JojoS	0:ab00d9bcd00d	140	* external signal connected to the FSYNC pin can be sampled by configuring
JojoS	0:ab00d9bcd00d	141	* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
JojoS	0:ab00d9bcd00d	142	* strobes may be captured. The latched FSYNC signal will be sampled at the
JojoS	0:ab00d9bcd00d	143	* Sampling Rate, as defined in register 25. After sampling, the latch will
JojoS	0:ab00d9bcd00d	144	* reset to the current FSYNC signal state.
JojoS	0:ab00d9bcd00d	145	*
JojoS	0:ab00d9bcd00d	146	* The sampled value will be reported in place of the least significant bit in
JojoS	0:ab00d9bcd00d	147	* a sensor data register determined by the value of EXT_SYNC_SET according to
JojoS	0:ab00d9bcd00d	148	* the following table.
JojoS	0:ab00d9bcd00d	149	*
JojoS	0:ab00d9bcd00d	150	* <pre>
JojoS	0:ab00d9bcd00d	151	* EXT_SYNC_SET \| FSYNC Bit Location
JojoS	0:ab00d9bcd00d	152	* -------------+-------------------
JojoS	0:ab00d9bcd00d	153	* 0 \| Input disabled
JojoS	0:ab00d9bcd00d	154	* 1 \| TEMP_OUT_L[0]
JojoS	0:ab00d9bcd00d	155	* 2 \| GYRO_XOUT_L[0]
JojoS	0:ab00d9bcd00d	156	* 3 \| GYRO_YOUT_L[0]
JojoS	0:ab00d9bcd00d	157	* 4 \| GYRO_ZOUT_L[0]
JojoS	0:ab00d9bcd00d	158	* 5 \| ACCEL_XOUT_L[0]
JojoS	0:ab00d9bcd00d	159	* 6 \| ACCEL_YOUT_L[0]
JojoS	0:ab00d9bcd00d	160	* 7 \| ACCEL_ZOUT_L[0]
JojoS	0:ab00d9bcd00d	161	* </pre>
JojoS	0:ab00d9bcd00d	162	*
JojoS	0:ab00d9bcd00d	163	* @return FSYNC configuration value
JojoS	0:ab00d9bcd00d	164	*/
JojoS	0:ab00d9bcd00d	165	uint8_t MPU9150::getExternalFrameSync() {
JojoS	0:ab00d9bcd00d	166	i2Cdev.readBits(devAddr, MPU9150_RA_CONFIG, MPU9150_CFG_EXT_SYNC_SET_BIT, MPU9150_CFG_EXT_SYNC_SET_LENGTH, buffer);
JojoS	0:ab00d9bcd00d	167	return buffer[0];
JojoS	0:ab00d9bcd00d	168	}
JojoS	0:ab00d9bcd00d	169	/** Set external FSYNC configuration.
JojoS	0:ab00d9bcd00d	170	* @see getExternalFrameSync()
JojoS	0:ab00d9bcd00d	171	* @see MPU9150_RA_CONFIG
JojoS	0:ab00d9bcd00d	172	* @param sync New FSYNC configuration value
JojoS	0:ab00d9bcd00d	173	*/
JojoS	0:ab00d9bcd00d	174	void MPU9150::setExternalFrameSync(uint8_t sync) {
JojoS	0:ab00d9bcd00d	175	i2Cdev.writeBits(devAddr, MPU9150_RA_CONFIG, MPU9150_CFG_EXT_SYNC_SET_BIT, MPU9150_CFG_EXT_SYNC_SET_LENGTH, sync);
JojoS	0:ab00d9bcd00d	176	}
JojoS	0:ab00d9bcd00d	177	/** Get digital low-pass filter configuration.
JojoS	0:ab00d9bcd00d	178	* The DLPF_CFG parameter sets the digital low pass filter configuration. It
JojoS	0:ab00d9bcd00d	179	* also determines the internal sampling rate used by the device as shown in
JojoS	0:ab00d9bcd00d	180	* the table below.
JojoS	0:ab00d9bcd00d	181	*
JojoS	0:ab00d9bcd00d	182	* Note: The accelerometer output rate is 1kHz. This means that for a Sample
JojoS	0:ab00d9bcd00d	183	* Rate greater than 1kHz, the same accelerometer sample may be output to the
JojoS	0:ab00d9bcd00d	184	* FIFO, DMP, and sensor registers more than once.
JojoS	0:ab00d9bcd00d	185	*
JojoS	0:ab00d9bcd00d	186	* <pre>
JojoS	0:ab00d9bcd00d	187	* \| ACCELEROMETER \| GYROSCOPE
JojoS	0:ab00d9bcd00d	188	* DLPF_CFG \| Bandwidth \| Delay \| Bandwidth \| Delay \| Sample Rate
JojoS	0:ab00d9bcd00d	189	* ---------+-----------+--------+-----------+--------+-------------
JojoS	0:ab00d9bcd00d	190	* 0 \| 260Hz \| 0ms \| 256Hz \| 0.98ms \| 8kHz
JojoS	0:ab00d9bcd00d	191	* 1 \| 184Hz \| 2.0ms \| 188Hz \| 1.9ms \| 1kHz
JojoS	0:ab00d9bcd00d	192	* 2 \| 94Hz \| 3.0ms \| 98Hz \| 2.8ms \| 1kHz
JojoS	0:ab00d9bcd00d	193	* 3 \| 44Hz \| 4.9ms \| 42Hz \| 4.8ms \| 1kHz
JojoS	0:ab00d9bcd00d	194	* 4 \| 21Hz \| 8.5ms \| 20Hz \| 8.3ms \| 1kHz
JojoS	0:ab00d9bcd00d	195	* 5 \| 10Hz \| 13.8ms \| 10Hz \| 13.4ms \| 1kHz
JojoS	0:ab00d9bcd00d	196	* 6 \| 5Hz \| 19.0ms \| 5Hz \| 18.6ms \| 1kHz
JojoS	0:ab00d9bcd00d	197	* 7 \| -- Reserved -- \| -- Reserved -- \| Reserved
JojoS	0:ab00d9bcd00d	198	* </pre>
JojoS	0:ab00d9bcd00d	199	*
JojoS	0:ab00d9bcd00d	200	* @return DLFP configuration
JojoS	0:ab00d9bcd00d	201	* @see MPU9150_RA_CONFIG
JojoS	0:ab00d9bcd00d	202	* @see MPU9150_CFG_DLPF_CFG_BIT
JojoS	0:ab00d9bcd00d	203	* @see MPU9150_CFG_DLPF_CFG_LENGTH
JojoS	0:ab00d9bcd00d	204	*/
JojoS	0:ab00d9bcd00d	205	uint8_t MPU9150::getDLPFMode() {
JojoS	0:ab00d9bcd00d	206	i2Cdev.readBits(devAddr, MPU9150_RA_CONFIG, MPU9150_CFG_DLPF_CFG_BIT, MPU9150_CFG_DLPF_CFG_LENGTH, buffer);
JojoS	0:ab00d9bcd00d	207	return buffer[0];
JojoS	0:ab00d9bcd00d	208	}
JojoS	0:ab00d9bcd00d	209	/** Set digital low-pass filter configuration.
JojoS	0:ab00d9bcd00d	210	* @param mode New DLFP configuration setting
JojoS	0:ab00d9bcd00d	211	* @see getDLPFBandwidth()
JojoS	0:ab00d9bcd00d	212	* @see MPU9150_DLPF_BW_256
JojoS	0:ab00d9bcd00d	213	* @see MPU9150_RA_CONFIG
JojoS	0:ab00d9bcd00d	214	* @see MPU9150_CFG_DLPF_CFG_BIT
JojoS	0:ab00d9bcd00d	215	* @see MPU9150_CFG_DLPF_CFG_LENGTH
JojoS	0:ab00d9bcd00d	216	*/
JojoS	0:ab00d9bcd00d	217	void MPU9150::setDLPFMode(uint8_t mode) {
JojoS	0:ab00d9bcd00d	218	i2Cdev.writeBits(devAddr, MPU9150_RA_CONFIG, MPU9150_CFG_DLPF_CFG_BIT, MPU9150_CFG_DLPF_CFG_LENGTH, mode);
JojoS	0:ab00d9bcd00d	219	}
JojoS	0:ab00d9bcd00d	220
JojoS	0:ab00d9bcd00d	221	// GYRO_CONFIG register
JojoS	0:ab00d9bcd00d	222
JojoS	0:ab00d9bcd00d	223	/** Get full-scale gyroscope range.
JojoS	0:ab00d9bcd00d	224	* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
JojoS	0:ab00d9bcd00d	225	* as described in the table below.
JojoS	0:ab00d9bcd00d	226	*
JojoS	0:ab00d9bcd00d	227	* <pre>
JojoS	0:ab00d9bcd00d	228	* 0 = +/- 250 degrees/sec
JojoS	0:ab00d9bcd00d	229	* 1 = +/- 500 degrees/sec
JojoS	0:ab00d9bcd00d	230	* 2 = +/- 1000 degrees/sec
JojoS	0:ab00d9bcd00d	231	* 3 = +/- 2000 degrees/sec
JojoS	0:ab00d9bcd00d	232	* </pre>
JojoS	0:ab00d9bcd00d	233	*
JojoS	0:ab00d9bcd00d	234	* @return Current full-scale gyroscope range setting
JojoS	0:ab00d9bcd00d	235	* @see MPU9150_GYRO_FS_250
JojoS	0:ab00d9bcd00d	236	* @see MPU9150_RA_GYRO_CONFIG
JojoS	0:ab00d9bcd00d	237	* @see MPU9150_GCONFIG_FS_SEL_BIT
JojoS	0:ab00d9bcd00d	238	* @see MPU9150_GCONFIG_FS_SEL_LENGTH
JojoS	0:ab00d9bcd00d	239	*/
JojoS	0:ab00d9bcd00d	240	uint8_t MPU9150::getFullScaleGyroRange() {
JojoS	0:ab00d9bcd00d	241	i2Cdev.readBits(devAddr, MPU9150_RA_GYRO_CONFIG, MPU9150_GCONFIG_FS_SEL_BIT, MPU9150_GCONFIG_FS_SEL_LENGTH, buffer);
JojoS	0:ab00d9bcd00d	242	return buffer[0];
JojoS	0:ab00d9bcd00d	243	}
JojoS	0:ab00d9bcd00d	244	/** Set full-scale gyroscope range.
JojoS	0:ab00d9bcd00d	245	* @param range New full-scale gyroscope range value
JojoS	0:ab00d9bcd00d	246	* @see getFullScaleRange()
JojoS	0:ab00d9bcd00d	247	* @see MPU9150_GYRO_FS_250
JojoS	0:ab00d9bcd00d	248	* @see MPU9150_RA_GYRO_CONFIG
JojoS	0:ab00d9bcd00d	249	* @see MPU9150_GCONFIG_FS_SEL_BIT
JojoS	0:ab00d9bcd00d	250	* @see MPU9150_GCONFIG_FS_SEL_LENGTH
JojoS	0:ab00d9bcd00d	251	*/
JojoS	0:ab00d9bcd00d	252	void MPU9150::setFullScaleGyroRange(uint8_t range) {
JojoS	0:ab00d9bcd00d	253	i2Cdev.writeBits(devAddr, MPU9150_RA_GYRO_CONFIG, MPU9150_GCONFIG_FS_SEL_BIT, MPU9150_GCONFIG_FS_SEL_LENGTH, range);
JojoS	0:ab00d9bcd00d	254	}
JojoS	0:ab00d9bcd00d	255
JojoS	0:ab00d9bcd00d	256	// ACCEL_CONFIG register
JojoS	0:ab00d9bcd00d	257
JojoS	0:ab00d9bcd00d	258	/** Get self-test enabled setting for accelerometer X axis.
JojoS	0:ab00d9bcd00d	259	* @return Self-test enabled value
JojoS	0:ab00d9bcd00d	260	* @see MPU9150_RA_ACCEL_CONFIG
JojoS	0:ab00d9bcd00d	261	*/
JojoS	0:ab00d9bcd00d	262	bool MPU9150::getAccelXSelfTest() {
JojoS	0:ab00d9bcd00d	263	i2Cdev.readBit(devAddr, MPU9150_RA_ACCEL_CONFIG, MPU9150_ACONFIG_XA_ST_BIT, buffer);
JojoS	0:ab00d9bcd00d	264	return buffer[0];
JojoS	0:ab00d9bcd00d	265	}
JojoS	0:ab00d9bcd00d	266	/** Get self-test enabled setting for accelerometer X axis.
JojoS	0:ab00d9bcd00d	267	* @param enabled Self-test enabled value
JojoS	0:ab00d9bcd00d	268	* @see MPU9150_RA_ACCEL_CONFIG
JojoS	0:ab00d9bcd00d	269	*/
JojoS	0:ab00d9bcd00d	270	void MPU9150::setAccelXSelfTest(bool enabled) {
JojoS	0:ab00d9bcd00d	271	i2Cdev.writeBit(devAddr, MPU9150_RA_ACCEL_CONFIG, MPU9150_ACONFIG_XA_ST_BIT, enabled);
JojoS	0:ab00d9bcd00d	272	}
JojoS	0:ab00d9bcd00d	273	/** Get self-test enabled value for accelerometer Y axis.
JojoS	0:ab00d9bcd00d	274	* @return Self-test enabled value
JojoS	0:ab00d9bcd00d	275	* @see MPU9150_RA_ACCEL_CONFIG
JojoS	0:ab00d9bcd00d	276	*/
JojoS	0:ab00d9bcd00d	277	bool MPU9150::getAccelYSelfTest() {
JojoS	0:ab00d9bcd00d	278	i2Cdev.readBit(devAddr, MPU9150_RA_ACCEL_CONFIG, MPU9150_ACONFIG_YA_ST_BIT, buffer);
JojoS	0:ab00d9bcd00d	279	return buffer[0];
JojoS	0:ab00d9bcd00d	280	}
JojoS	0:ab00d9bcd00d	281	/** Get self-test enabled value for accelerometer Y axis.
JojoS	0:ab00d9bcd00d	282	* @param enabled Self-test enabled value
JojoS	0:ab00d9bcd00d	283	* @see MPU9150_RA_ACCEL_CONFIG
JojoS	0:ab00d9bcd00d	284	*/
JojoS	0:ab00d9bcd00d	285	void MPU9150::setAccelYSelfTest(bool enabled) {
JojoS	0:ab00d9bcd00d	286	i2Cdev.writeBit(devAddr, MPU9150_RA_ACCEL_CONFIG, MPU9150_ACONFIG_YA_ST_BIT, enabled);
JojoS	0:ab00d9bcd00d	287	}
JojoS	0:ab00d9bcd00d	288	/** Get self-test enabled value for accelerometer Z axis.
JojoS	0:ab00d9bcd00d	289	* @return Self-test enabled value
JojoS	0:ab00d9bcd00d	290	* @see MPU9150_RA_ACCEL_CONFIG
JojoS	0:ab00d9bcd00d	291	*/
JojoS	0:ab00d9bcd00d	292	bool MPU9150::getAccelZSelfTest() {
JojoS	0:ab00d9bcd00d	293	i2Cdev.readBit(devAddr, MPU9150_RA_ACCEL_CONFIG, MPU9150_ACONFIG_ZA_ST_BIT, buffer);
JojoS	0:ab00d9bcd00d	294	return buffer[0];
JojoS	0:ab00d9bcd00d	295	}
JojoS	0:ab00d9bcd00d	296	/** Set self-test enabled value for accelerometer Z axis.
JojoS	0:ab00d9bcd00d	297	* @param enabled Self-test enabled value
JojoS	0:ab00d9bcd00d	298	* @see MPU9150_RA_ACCEL_CONFIG
JojoS	0:ab00d9bcd00d	299	*/
JojoS	0:ab00d9bcd00d	300	void MPU9150::setAccelZSelfTest(bool enabled) {
JojoS	0:ab00d9bcd00d	301	i2Cdev.writeBit(devAddr, MPU9150_RA_ACCEL_CONFIG, MPU9150_ACONFIG_ZA_ST_BIT, enabled);
JojoS	0:ab00d9bcd00d	302	}
JojoS	0:ab00d9bcd00d	303	/** Get full-scale accelerometer range.
JojoS	0:ab00d9bcd00d	304	* The FS_SEL parameter allows setting the full-scale range of the accelerometer
JojoS	0:ab00d9bcd00d	305	* sensors, as described in the table below.
JojoS	0:ab00d9bcd00d	306	*
JojoS	0:ab00d9bcd00d	307	* <pre>
JojoS	0:ab00d9bcd00d	308	* 0 = +/- 2g
JojoS	0:ab00d9bcd00d	309	* 1 = +/- 4g
JojoS	0:ab00d9bcd00d	310	* 2 = +/- 8g
JojoS	0:ab00d9bcd00d	311	* 3 = +/- 16g
JojoS	0:ab00d9bcd00d	312	* </pre>
JojoS	0:ab00d9bcd00d	313	*
JojoS	0:ab00d9bcd00d	314	* @return Current full-scale accelerometer range setting
JojoS	0:ab00d9bcd00d	315	* @see MPU9150_ACCEL_FS_2
JojoS	0:ab00d9bcd00d	316	* @see MPU9150_RA_ACCEL_CONFIG
JojoS	0:ab00d9bcd00d	317	* @see MPU9150_ACONFIG_AFS_SEL_BIT
JojoS	0:ab00d9bcd00d	318	* @see MPU9150_ACONFIG_AFS_SEL_LENGTH
JojoS	0:ab00d9bcd00d	319	*/
JojoS	0:ab00d9bcd00d	320	uint8_t MPU9150::getFullScaleAccelRange() {
JojoS	0:ab00d9bcd00d	321	i2Cdev.readBits(devAddr, MPU9150_RA_ACCEL_CONFIG, MPU9150_ACONFIG_AFS_SEL_BIT, MPU9150_ACONFIG_AFS_SEL_LENGTH, buffer);
JojoS	0:ab00d9bcd00d	322	return buffer[0];
JojoS	0:ab00d9bcd00d	323	}
JojoS	0:ab00d9bcd00d	324	/** Set full-scale accelerometer range.
JojoS	0:ab00d9bcd00d	325	* @param range New full-scale accelerometer range setting
JojoS	0:ab00d9bcd00d	326	* @see getFullScaleAccelRange()
JojoS	0:ab00d9bcd00d	327	*/
JojoS	0:ab00d9bcd00d	328	void MPU9150::setFullScaleAccelRange(uint8_t range) {
JojoS	0:ab00d9bcd00d	329	i2Cdev.writeBits(devAddr, MPU9150_RA_ACCEL_CONFIG, MPU9150_ACONFIG_AFS_SEL_BIT, MPU9150_ACONFIG_AFS_SEL_LENGTH, range);
JojoS	0:ab00d9bcd00d	330	}
JojoS	0:ab00d9bcd00d	331	/** Get the high-pass filter configuration.
JojoS	0:ab00d9bcd00d	332	* The DHPF is a filter module in the path leading to motion detectors (Free
JojoS	0:ab00d9bcd00d	333	* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
JojoS	0:ab00d9bcd00d	334	* available to the data registers (see Figure in Section 8 of the MPU-6000/
JojoS	0:ab00d9bcd00d	335	* MPU-9150 Product Specification document).
JojoS	0:ab00d9bcd00d	336	*
JojoS	0:ab00d9bcd00d	337	* The high pass filter has three modes:
JojoS	0:ab00d9bcd00d	338	*
JojoS	0:ab00d9bcd00d	339	* <pre>
JojoS	0:ab00d9bcd00d	340	* Reset: The filter output settles to zero within one sample. This
JojoS	0:ab00d9bcd00d	341	* effectively disables the high pass filter. This mode may be toggled
JojoS	0:ab00d9bcd00d	342	* to quickly settle the filter.
JojoS	0:ab00d9bcd00d	343	*
JojoS	0:ab00d9bcd00d	344	* On: The high pass filter will pass signals above the cut off frequency.
JojoS	0:ab00d9bcd00d	345	*
JojoS	0:ab00d9bcd00d	346	* Hold: When triggered, the filter holds the present sample. The filter
JojoS	0:ab00d9bcd00d	347	* output will be the difference between the input sample and the held
JojoS	0:ab00d9bcd00d	348	* sample.
JojoS	0:ab00d9bcd00d	349	* </pre>
JojoS	0:ab00d9bcd00d	350	*
JojoS	0:ab00d9bcd00d	351	* <pre>
JojoS	0:ab00d9bcd00d	352	* ACCEL_HPF \| Filter Mode \| Cut-off Frequency
JojoS	0:ab00d9bcd00d	353	* ----------+-------------+------------------
JojoS	0:ab00d9bcd00d	354	* 0 \| Reset \| None
JojoS	0:ab00d9bcd00d	355	* 1 \| On \| 5Hz
JojoS	0:ab00d9bcd00d	356	* 2 \| On \| 2.5Hz
JojoS	0:ab00d9bcd00d	357	* 3 \| On \| 1.25Hz
JojoS	0:ab00d9bcd00d	358	* 4 \| On \| 0.63Hz
JojoS	0:ab00d9bcd00d	359	* 7 \| Hold \| None
JojoS	0:ab00d9bcd00d	360	* </pre>
JojoS	0:ab00d9bcd00d	361	*
JojoS	0:ab00d9bcd00d	362	* @return Current high-pass filter configuration
JojoS	0:ab00d9bcd00d	363	* @see MPU9150_DHPF_RESET
JojoS	0:ab00d9bcd00d	364	* @see MPU9150_RA_ACCEL_CONFIG
JojoS	0:ab00d9bcd00d	365	*/
JojoS	0:ab00d9bcd00d	366	uint8_t MPU9150::getDHPFMode() {
JojoS	0:ab00d9bcd00d	367	i2Cdev.readBits(devAddr, MPU9150_RA_ACCEL_CONFIG, MPU9150_ACONFIG_ACCEL_HPF_BIT, MPU9150_ACONFIG_ACCEL_HPF_LENGTH, buffer);
JojoS	0:ab00d9bcd00d	368	return buffer[0];
JojoS	0:ab00d9bcd00d	369	}
JojoS	0:ab00d9bcd00d	370	/** Set the high-pass filter configuration.
JojoS	0:ab00d9bcd00d	371	* @param bandwidth New high-pass filter configuration
JojoS	0:ab00d9bcd00d	372	* @see setDHPFMode()
JojoS	0:ab00d9bcd00d	373	* @see MPU9150_DHPF_RESET
JojoS	0:ab00d9bcd00d	374	* @see MPU9150_RA_ACCEL_CONFIG
JojoS	0:ab00d9bcd00d	375	*/
JojoS	0:ab00d9bcd00d	376	void MPU9150::setDHPFMode(uint8_t bandwidth) {
JojoS	0:ab00d9bcd00d	377	i2Cdev.writeBits(devAddr, MPU9150_RA_ACCEL_CONFIG, MPU9150_ACONFIG_ACCEL_HPF_BIT, MPU9150_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
JojoS	0:ab00d9bcd00d	378	}
JojoS	0:ab00d9bcd00d	379
JojoS	0:ab00d9bcd00d	380	// FF_THR register
JojoS	0:ab00d9bcd00d	381
JojoS	0:ab00d9bcd00d	382	/** Get free-fall event acceleration threshold.
JojoS	0:ab00d9bcd00d	383	* This register configures the detection threshold for Free Fall event
JojoS	0:ab00d9bcd00d	384	* detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the
JojoS	0:ab00d9bcd00d	385	* absolute value of the accelerometer measurements for the three axes are each
JojoS	0:ab00d9bcd00d	386	* less than the detection threshold. This condition increments the Free Fall
JojoS	0:ab00d9bcd00d	387	* duration counter (Register 30). The Free Fall interrupt is triggered when the
JojoS	0:ab00d9bcd00d	388	* Free Fall duration counter reaches the time specified in FF_DUR.
JojoS	0:ab00d9bcd00d	389	*
JojoS	0:ab00d9bcd00d	390	* For more details on the Free Fall detection interrupt, see Section 8.2 of the
JojoS	0:ab00d9bcd00d	391	* MPU-6000/MPU-9150 Product Specification document as well as Registers 56 and
JojoS	0:ab00d9bcd00d	392	* 58 of this document.
JojoS	0:ab00d9bcd00d	393	*
JojoS	0:ab00d9bcd00d	394	* @return Current free-fall acceleration threshold value (LSB = 2mg)
JojoS	0:ab00d9bcd00d	395	* @see MPU9150_RA_FF_THR
JojoS	0:ab00d9bcd00d	396	*/
JojoS	0:ab00d9bcd00d	397	uint8_t MPU9150::getFreefallDetectionThreshold() {
JojoS	0:ab00d9bcd00d	398	i2Cdev.readByte(devAddr, MPU9150_RA_FF_THR, buffer);
JojoS	0:ab00d9bcd00d	399	return buffer[0];
JojoS	0:ab00d9bcd00d	400	}
JojoS	0:ab00d9bcd00d	401	/** Get free-fall event acceleration threshold.
JojoS	0:ab00d9bcd00d	402	* @param threshold New free-fall acceleration threshold value (LSB = 2mg)
JojoS	0:ab00d9bcd00d	403	* @see getFreefallDetectionThreshold()
JojoS	0:ab00d9bcd00d	404	* @see MPU9150_RA_FF_THR
JojoS	0:ab00d9bcd00d	405	*/
JojoS	0:ab00d9bcd00d	406	void MPU9150::setFreefallDetectionThreshold(uint8_t threshold) {
JojoS	0:ab00d9bcd00d	407	i2Cdev.writeByte(devAddr, MPU9150_RA_FF_THR, threshold);
JojoS	0:ab00d9bcd00d	408	}
JojoS	0:ab00d9bcd00d	409
JojoS	0:ab00d9bcd00d	410	// FF_DUR register
JojoS	0:ab00d9bcd00d	411
JojoS	0:ab00d9bcd00d	412	/** Get free-fall event duration threshold.
JojoS	0:ab00d9bcd00d	413	* This register configures the duration counter threshold for Free Fall event
JojoS	0:ab00d9bcd00d	414	* detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit
JojoS	0:ab00d9bcd00d	415	* of 1 LSB = 1 ms.
JojoS	0:ab00d9bcd00d	416	*
JojoS	0:ab00d9bcd00d	417	* The Free Fall duration counter increments while the absolute value of the
JojoS	0:ab00d9bcd00d	418	* accelerometer measurements are each less than the detection threshold
JojoS	0:ab00d9bcd00d	419	* (Register 29). The Free Fall interrupt is triggered when the Free Fall
JojoS	0:ab00d9bcd00d	420	* duration counter reaches the time specified in this register.
JojoS	0:ab00d9bcd00d	421	*
JojoS	0:ab00d9bcd00d	422	* For more details on the Free Fall detection interrupt, see Section 8.2 of
JojoS	0:ab00d9bcd00d	423	* the MPU-6000/MPU-9150 Product Specification document as well as Registers 56
JojoS	0:ab00d9bcd00d	424	* and 58 of this document.
JojoS	0:ab00d9bcd00d	425	*
JojoS	0:ab00d9bcd00d	426	* @return Current free-fall duration threshold value (LSB = 1ms)
JojoS	0:ab00d9bcd00d	427	* @see MPU9150_RA_FF_DUR
JojoS	0:ab00d9bcd00d	428	*/
JojoS	0:ab00d9bcd00d	429	uint8_t MPU9150::getFreefallDetectionDuration() {
JojoS	0:ab00d9bcd00d	430	i2Cdev.readByte(devAddr, MPU9150_RA_FF_DUR, buffer);
JojoS	0:ab00d9bcd00d	431	return buffer[0];
JojoS	0:ab00d9bcd00d	432	}
JojoS	0:ab00d9bcd00d	433	/** Get free-fall event duration threshold.
JojoS	0:ab00d9bcd00d	434	* @param duration New free-fall duration threshold value (LSB = 1ms)
JojoS	0:ab00d9bcd00d	435	* @see getFreefallDetectionDuration()
JojoS	0:ab00d9bcd00d	436	* @see MPU9150_RA_FF_DUR
JojoS	0:ab00d9bcd00d	437	*/
JojoS	0:ab00d9bcd00d	438	void MPU9150::setFreefallDetectionDuration(uint8_t duration) {
JojoS	0:ab00d9bcd00d	439	i2Cdev.writeByte(devAddr, MPU9150_RA_FF_DUR, duration);
JojoS	0:ab00d9bcd00d	440	}
JojoS	0:ab00d9bcd00d	441
JojoS	0:ab00d9bcd00d	442	// MOT_THR register
JojoS	0:ab00d9bcd00d	443
JojoS	0:ab00d9bcd00d	444	/** Get motion detection event acceleration threshold.
JojoS	0:ab00d9bcd00d	445	* This register configures the detection threshold for Motion interrupt
JojoS	0:ab00d9bcd00d	446	* generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the
JojoS	0:ab00d9bcd00d	447	* absolute value of any of the accelerometer measurements exceeds this Motion
JojoS	0:ab00d9bcd00d	448	* detection threshold. This condition increments the Motion detection duration
JojoS	0:ab00d9bcd00d	449	* counter (Register 32). The Motion detection interrupt is triggered when the
JojoS	0:ab00d9bcd00d	450	* Motion Detection counter reaches the time count specified in MOT_DUR
JojoS	0:ab00d9bcd00d	451	* (Register 32).
JojoS	0:ab00d9bcd00d	452	*
JojoS	0:ab00d9bcd00d	453	* The Motion interrupt will indicate the axis and polarity of detected motion
JojoS	0:ab00d9bcd00d	454	* in MOT_DETECT_STATUS (Register 97).
JojoS	0:ab00d9bcd00d	455	*
JojoS	0:ab00d9bcd00d	456	* For more details on the Motion detection interrupt, see Section 8.3 of the
JojoS	0:ab00d9bcd00d	457	* MPU-6000/MPU-9150 Product Specification document as well as Registers 56 and
JojoS	0:ab00d9bcd00d	458	* 58 of this document.
JojoS	0:ab00d9bcd00d	459	*
JojoS	0:ab00d9bcd00d	460	* @return Current motion detection acceleration threshold value (LSB = 2mg)
JojoS	0:ab00d9bcd00d	461	* @see MPU9150_RA_MOT_THR
JojoS	0:ab00d9bcd00d	462	*/
JojoS	0:ab00d9bcd00d	463	uint8_t MPU9150::getMotionDetectionThreshold() {
JojoS	0:ab00d9bcd00d	464	i2Cdev.readByte(devAddr, MPU9150_RA_MOT_THR, buffer);
JojoS	0:ab00d9bcd00d	465	return buffer[0];
JojoS	0:ab00d9bcd00d	466	}
JojoS	0:ab00d9bcd00d	467	/** Set free-fall event acceleration threshold.
JojoS	0:ab00d9bcd00d	468	* @param threshold New motion detection acceleration threshold value (LSB = 2mg)
JojoS	0:ab00d9bcd00d	469	* @see getMotionDetectionThreshold()
JojoS	0:ab00d9bcd00d	470	* @see MPU9150_RA_MOT_THR
JojoS	0:ab00d9bcd00d	471	*/
JojoS	0:ab00d9bcd00d	472	void MPU9150::setMotionDetectionThreshold(uint8_t threshold) {
JojoS	0:ab00d9bcd00d	473	i2Cdev.writeByte(devAddr, MPU9150_RA_MOT_THR, threshold);
JojoS	0:ab00d9bcd00d	474	}
JojoS	0:ab00d9bcd00d	475
JojoS	0:ab00d9bcd00d	476	// MOT_DUR register
JojoS	0:ab00d9bcd00d	477
JojoS	0:ab00d9bcd00d	478	/** Get motion detection event duration threshold.
JojoS	0:ab00d9bcd00d	479	* This register configures the duration counter threshold for Motion interrupt
JojoS	0:ab00d9bcd00d	480	* generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit
JojoS	0:ab00d9bcd00d	481	* of 1LSB = 1ms. The Motion detection duration counter increments when the
JojoS	0:ab00d9bcd00d	482	* absolute value of any of the accelerometer measurements exceeds the Motion
JojoS	0:ab00d9bcd00d	483	* detection threshold (Register 31). The Motion detection interrupt is
JojoS	0:ab00d9bcd00d	484	* triggered when the Motion detection counter reaches the time count specified
JojoS	0:ab00d9bcd00d	485	* in this register.
JojoS	0:ab00d9bcd00d	486	*
JojoS	0:ab00d9bcd00d	487	* For more details on the Motion detection interrupt, see Section 8.3 of the
JojoS	0:ab00d9bcd00d	488	* MPU-6000/MPU-9150 Product Specification document.
JojoS	0:ab00d9bcd00d	489	*
JojoS	0:ab00d9bcd00d	490	* @return Current motion detection duration threshold value (LSB = 1ms)
JojoS	0:ab00d9bcd00d	491	* @see MPU9150_RA_MOT_DUR
JojoS	0:ab00d9bcd00d	492	*/
JojoS	0:ab00d9bcd00d	493	uint8_t MPU9150::getMotionDetectionDuration() {
JojoS	0:ab00d9bcd00d	494	i2Cdev.readByte(devAddr, MPU9150_RA_MOT_DUR, buffer);
JojoS	0:ab00d9bcd00d	495	return buffer[0];
JojoS	0:ab00d9bcd00d	496	}
JojoS	0:ab00d9bcd00d	497	/** Set motion detection event duration threshold.
JojoS	0:ab00d9bcd00d	498	* @param duration New motion detection duration threshold value (LSB = 1ms)
JojoS	0:ab00d9bcd00d	499	* @see getMotionDetectionDuration()
JojoS	0:ab00d9bcd00d	500	* @see MPU9150_RA_MOT_DUR
JojoS	0:ab00d9bcd00d	501	*/
JojoS	0:ab00d9bcd00d	502	void MPU9150::setMotionDetectionDuration(uint8_t duration) {
JojoS	0:ab00d9bcd00d	503	i2Cdev.writeByte(devAddr, MPU9150_RA_MOT_DUR, duration);
JojoS	0:ab00d9bcd00d	504	}
JojoS	0:ab00d9bcd00d	505
JojoS	0:ab00d9bcd00d	506	// ZRMOT_THR register
JojoS	0:ab00d9bcd00d	507
JojoS	0:ab00d9bcd00d	508	/** Get zero motion detection event acceleration threshold.
JojoS	0:ab00d9bcd00d	509	* This register configures the detection threshold for Zero Motion interrupt
JojoS	0:ab00d9bcd00d	510	* generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when
JojoS	0:ab00d9bcd00d	511	* the absolute value of the accelerometer measurements for the 3 axes are each
JojoS	0:ab00d9bcd00d	512	* less than the detection threshold. This condition increments the Zero Motion
JojoS	0:ab00d9bcd00d	513	* duration counter (Register 34). The Zero Motion interrupt is triggered when
JojoS	0:ab00d9bcd00d	514	* the Zero Motion duration counter reaches the time count specified in
JojoS	0:ab00d9bcd00d	515	* ZRMOT_DUR (Register 34).
JojoS	0:ab00d9bcd00d	516	*
JojoS	0:ab00d9bcd00d	517	* Unlike Free Fall or Motion detection, Zero Motion detection triggers an
JojoS	0:ab00d9bcd00d	518	* interrupt both when Zero Motion is first detected and when Zero Motion is no
JojoS	0:ab00d9bcd00d	519	* longer detected.
JojoS	0:ab00d9bcd00d	520	*
JojoS	0:ab00d9bcd00d	521	* When a zero motion event is detected, a Zero Motion Status will be indicated
JojoS	0:ab00d9bcd00d	522	* in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion
JojoS	0:ab00d9bcd00d	523	* condition is detected, the status bit is set to 1. When a zero-motion-to-
JojoS	0:ab00d9bcd00d	524	* motion condition is detected, the status bit is set to 0.
JojoS	0:ab00d9bcd00d	525	*
JojoS	0:ab00d9bcd00d	526	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
JojoS	0:ab00d9bcd00d	527	* the MPU-6000/MPU-9150 Product Specification document as well as Registers 56
JojoS	0:ab00d9bcd00d	528	* and 58 of this document.
JojoS	0:ab00d9bcd00d	529	*
JojoS	0:ab00d9bcd00d	530	* @return Current zero motion detection acceleration threshold value (LSB = 2mg)
JojoS	0:ab00d9bcd00d	531	* @see MPU9150_RA_ZRMOT_THR
JojoS	0:ab00d9bcd00d	532	*/
JojoS	0:ab00d9bcd00d	533	uint8_t MPU9150::getZeroMotionDetectionThreshold() {
JojoS	0:ab00d9bcd00d	534	i2Cdev.readByte(devAddr, MPU9150_RA_ZRMOT_THR, buffer);
JojoS	0:ab00d9bcd00d	535	return buffer[0];
JojoS	0:ab00d9bcd00d	536	}
JojoS	0:ab00d9bcd00d	537	/** Set zero motion detection event acceleration threshold.
JojoS	0:ab00d9bcd00d	538	* @param threshold New zero motion detection acceleration threshold value (LSB = 2mg)
JojoS	0:ab00d9bcd00d	539	* @see getZeroMotionDetectionThreshold()
JojoS	0:ab00d9bcd00d	540	* @see MPU9150_RA_ZRMOT_THR
JojoS	0:ab00d9bcd00d	541	*/
JojoS	0:ab00d9bcd00d	542	void MPU9150::setZeroMotionDetectionThreshold(uint8_t threshold) {
JojoS	0:ab00d9bcd00d	543	i2Cdev.writeByte(devAddr, MPU9150_RA_ZRMOT_THR, threshold);
JojoS	0:ab00d9bcd00d	544	}
JojoS	0:ab00d9bcd00d	545
JojoS	0:ab00d9bcd00d	546	// ZRMOT_DUR register
JojoS	0:ab00d9bcd00d	547
JojoS	0:ab00d9bcd00d	548	/** Get zero motion detection event duration threshold.
JojoS	0:ab00d9bcd00d	549	* This register configures the duration counter threshold for Zero Motion
JojoS	0:ab00d9bcd00d	550	* interrupt generation. The duration counter ticks at 16 Hz, therefore
JojoS	0:ab00d9bcd00d	551	* ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter
JojoS	0:ab00d9bcd00d	552	* increments while the absolute value of the accelerometer measurements are
JojoS	0:ab00d9bcd00d	553	* each less than the detection threshold (Register 33). The Zero Motion
JojoS	0:ab00d9bcd00d	554	* interrupt is triggered when the Zero Motion duration counter reaches the time
JojoS	0:ab00d9bcd00d	555	* count specified in this register.
JojoS	0:ab00d9bcd00d	556	*
JojoS	0:ab00d9bcd00d	557	* For more details on the Zero Motion detection interrupt, see Section 8.4 of
JojoS	0:ab00d9bcd00d	558	* the MPU-6000/MPU-9150 Product Specification document, as well as Registers 56
JojoS	0:ab00d9bcd00d	559	* and 58 of this document.
JojoS	0:ab00d9bcd00d	560	*
JojoS	0:ab00d9bcd00d	561	* @return Current zero motion detection duration threshold value (LSB = 64ms)
JojoS	0:ab00d9bcd00d	562	* @see MPU9150_RA_ZRMOT_DUR
JojoS	0:ab00d9bcd00d	563	*/
JojoS	0:ab00d9bcd00d	564	uint8_t MPU9150::getZeroMotionDetectionDuration() {
JojoS	0:ab00d9bcd00d	565	i2Cdev.readByte(devAddr, MPU9150_RA_ZRMOT_DUR, buffer);
JojoS	0:ab00d9bcd00d	566	return buffer[0];
JojoS	0:ab00d9bcd00d	567	}
JojoS	0:ab00d9bcd00d	568	/** Set zero motion detection event duration threshold.
JojoS	0:ab00d9bcd00d	569	* @param duration New zero motion detection duration threshold value (LSB = 1ms)
JojoS	0:ab00d9bcd00d	570	* @see getZeroMotionDetectionDuration()
JojoS	0:ab00d9bcd00d	571	* @see MPU9150_RA_ZRMOT_DUR
JojoS	0:ab00d9bcd00d	572	*/
JojoS	0:ab00d9bcd00d	573	void MPU9150::setZeroMotionDetectionDuration(uint8_t duration) {
JojoS	0:ab00d9bcd00d	574	i2Cdev.writeByte(devAddr, MPU9150_RA_ZRMOT_DUR, duration);
JojoS	0:ab00d9bcd00d	575	}
JojoS	0:ab00d9bcd00d	576
JojoS	0:ab00d9bcd00d	577	// FIFO_EN register
JojoS	0:ab00d9bcd00d	578
JojoS	0:ab00d9bcd00d	579	/** Get temperature FIFO enabled value.
JojoS	0:ab00d9bcd00d	580	* When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and
JojoS	0:ab00d9bcd00d	581	* 66) to be written into the FIFO buffer.
JojoS	0:ab00d9bcd00d	582	* @return Current temperature FIFO enabled value
JojoS	0:ab00d9bcd00d	583	* @see MPU9150_RA_FIFO_EN
JojoS	0:ab00d9bcd00d	584	*/
JojoS	0:ab00d9bcd00d	585	bool MPU9150::getTempFIFOEnabled() {
JojoS	0:ab00d9bcd00d	586	i2Cdev.readBit(devAddr, MPU9150_RA_FIFO_EN, MPU9150_TEMP_FIFO_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	587	return buffer[0];
JojoS	0:ab00d9bcd00d	588	}
JojoS	0:ab00d9bcd00d	589	/** Set temperature FIFO enabled value.
JojoS	0:ab00d9bcd00d	590	* @param enabled New temperature FIFO enabled value
JojoS	0:ab00d9bcd00d	591	* @see getTempFIFOEnabled()
JojoS	0:ab00d9bcd00d	592	* @see MPU9150_RA_FIFO_EN
JojoS	0:ab00d9bcd00d	593	*/
JojoS	0:ab00d9bcd00d	594	void MPU9150::setTempFIFOEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	595	i2Cdev.writeBit(devAddr, MPU9150_RA_FIFO_EN, MPU9150_TEMP_FIFO_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	596	}
JojoS	0:ab00d9bcd00d	597	/** Get gyroscope X-axis FIFO enabled value.
JojoS	0:ab00d9bcd00d	598	* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
JojoS	0:ab00d9bcd00d	599	* 68) to be written into the FIFO buffer.
JojoS	0:ab00d9bcd00d	600	* @return Current gyroscope X-axis FIFO enabled value
JojoS	0:ab00d9bcd00d	601	* @see MPU9150_RA_FIFO_EN
JojoS	0:ab00d9bcd00d	602	*/
JojoS	0:ab00d9bcd00d	603	bool MPU9150::getXGyroFIFOEnabled() {
JojoS	0:ab00d9bcd00d	604	i2Cdev.readBit(devAddr, MPU9150_RA_FIFO_EN, MPU9150_XG_FIFO_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	605	return buffer[0];
JojoS	0:ab00d9bcd00d	606	}
JojoS	0:ab00d9bcd00d	607	/** Set gyroscope X-axis FIFO enabled value.
JojoS	0:ab00d9bcd00d	608	* @param enabled New gyroscope X-axis FIFO enabled value
JojoS	0:ab00d9bcd00d	609	* @see getXGyroFIFOEnabled()
JojoS	0:ab00d9bcd00d	610	* @see MPU9150_RA_FIFO_EN
JojoS	0:ab00d9bcd00d	611	*/
JojoS	0:ab00d9bcd00d	612	void MPU9150::setXGyroFIFOEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	613	i2Cdev.writeBit(devAddr, MPU9150_RA_FIFO_EN, MPU9150_XG_FIFO_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	614	}
JojoS	0:ab00d9bcd00d	615	/** Get gyroscope Y-axis FIFO enabled value.
JojoS	0:ab00d9bcd00d	616	* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
JojoS	0:ab00d9bcd00d	617	* 70) to be written into the FIFO buffer.
JojoS	0:ab00d9bcd00d	618	* @return Current gyroscope Y-axis FIFO enabled value
JojoS	0:ab00d9bcd00d	619	* @see MPU9150_RA_FIFO_EN
JojoS	0:ab00d9bcd00d	620	*/
JojoS	0:ab00d9bcd00d	621	bool MPU9150::getYGyroFIFOEnabled() {
JojoS	0:ab00d9bcd00d	622	i2Cdev.readBit(devAddr, MPU9150_RA_FIFO_EN, MPU9150_YG_FIFO_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	623	return buffer[0];
JojoS	0:ab00d9bcd00d	624	}
JojoS	0:ab00d9bcd00d	625	/** Set gyroscope Y-axis FIFO enabled value.
JojoS	0:ab00d9bcd00d	626	* @param enabled New gyroscope Y-axis FIFO enabled value
JojoS	0:ab00d9bcd00d	627	* @see getYGyroFIFOEnabled()
JojoS	0:ab00d9bcd00d	628	* @see MPU9150_RA_FIFO_EN
JojoS	0:ab00d9bcd00d	629	*/
JojoS	0:ab00d9bcd00d	630	void MPU9150::setYGyroFIFOEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	631	i2Cdev.writeBit(devAddr, MPU9150_RA_FIFO_EN, MPU9150_YG_FIFO_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	632	}
JojoS	0:ab00d9bcd00d	633	/** Get gyroscope Z-axis FIFO enabled value.
JojoS	0:ab00d9bcd00d	634	* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
JojoS	0:ab00d9bcd00d	635	* 72) to be written into the FIFO buffer.
JojoS	0:ab00d9bcd00d	636	* @return Current gyroscope Z-axis FIFO enabled value
JojoS	0:ab00d9bcd00d	637	* @see MPU9150_RA_FIFO_EN
JojoS	0:ab00d9bcd00d	638	*/
JojoS	0:ab00d9bcd00d	639	bool MPU9150::getZGyroFIFOEnabled() {
JojoS	0:ab00d9bcd00d	640	i2Cdev.readBit(devAddr, MPU9150_RA_FIFO_EN, MPU9150_ZG_FIFO_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	641	return buffer[0];
JojoS	0:ab00d9bcd00d	642	}
JojoS	0:ab00d9bcd00d	643	/** Set gyroscope Z-axis FIFO enabled value.
JojoS	0:ab00d9bcd00d	644	* @param enabled New gyroscope Z-axis FIFO enabled value
JojoS	0:ab00d9bcd00d	645	* @see getZGyroFIFOEnabled()
JojoS	0:ab00d9bcd00d	646	* @see MPU9150_RA_FIFO_EN
JojoS	0:ab00d9bcd00d	647	*/
JojoS	0:ab00d9bcd00d	648	void MPU9150::setZGyroFIFOEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	649	i2Cdev.writeBit(devAddr, MPU9150_RA_FIFO_EN, MPU9150_ZG_FIFO_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	650	}
JojoS	0:ab00d9bcd00d	651	/** Get accelerometer FIFO enabled value.
JojoS	0:ab00d9bcd00d	652	* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
JojoS	0:ab00d9bcd00d	653	* ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
JojoS	0:ab00d9bcd00d	654	* written into the FIFO buffer.
JojoS	0:ab00d9bcd00d	655	* @return Current accelerometer FIFO enabled value
JojoS	0:ab00d9bcd00d	656	* @see MPU9150_RA_FIFO_EN
JojoS	0:ab00d9bcd00d	657	*/
JojoS	0:ab00d9bcd00d	658	bool MPU9150::getAccelFIFOEnabled() {
JojoS	0:ab00d9bcd00d	659	i2Cdev.readBit(devAddr, MPU9150_RA_FIFO_EN, MPU9150_ACCEL_FIFO_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	660	return buffer[0];
JojoS	0:ab00d9bcd00d	661	}
JojoS	0:ab00d9bcd00d	662	/** Set accelerometer FIFO enabled value.
JojoS	0:ab00d9bcd00d	663	* @param enabled New accelerometer FIFO enabled value
JojoS	0:ab00d9bcd00d	664	* @see getAccelFIFOEnabled()
JojoS	0:ab00d9bcd00d	665	* @see MPU9150_RA_FIFO_EN
JojoS	0:ab00d9bcd00d	666	*/
JojoS	0:ab00d9bcd00d	667	void MPU9150::setAccelFIFOEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	668	i2Cdev.writeBit(devAddr, MPU9150_RA_FIFO_EN, MPU9150_ACCEL_FIFO_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	669	}
JojoS	0:ab00d9bcd00d	670	/** Get Slave 2 FIFO enabled value.
JojoS	0:ab00d9bcd00d	671	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
JojoS	0:ab00d9bcd00d	672	* associated with Slave 2 to be written into the FIFO buffer.
JojoS	0:ab00d9bcd00d	673	* @return Current Slave 2 FIFO enabled value
JojoS	0:ab00d9bcd00d	674	* @see MPU9150_RA_FIFO_EN
JojoS	0:ab00d9bcd00d	675	*/
JojoS	0:ab00d9bcd00d	676	bool MPU9150::getSlave2FIFOEnabled() {
JojoS	0:ab00d9bcd00d	677	i2Cdev.readBit(devAddr, MPU9150_RA_FIFO_EN, MPU9150_SLV2_FIFO_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	678	return buffer[0];
JojoS	0:ab00d9bcd00d	679	}
JojoS	0:ab00d9bcd00d	680	/** Set Slave 2 FIFO enabled value.
JojoS	0:ab00d9bcd00d	681	* @param enabled New Slave 2 FIFO enabled value
JojoS	0:ab00d9bcd00d	682	* @see getSlave2FIFOEnabled()
JojoS	0:ab00d9bcd00d	683	* @see MPU9150_RA_FIFO_EN
JojoS	0:ab00d9bcd00d	684	*/
JojoS	0:ab00d9bcd00d	685	void MPU9150::setSlave2FIFOEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	686	i2Cdev.writeBit(devAddr, MPU9150_RA_FIFO_EN, MPU9150_SLV2_FIFO_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	687	}
JojoS	0:ab00d9bcd00d	688	/** Get Slave 1 FIFO enabled value.
JojoS	0:ab00d9bcd00d	689	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
JojoS	0:ab00d9bcd00d	690	* associated with Slave 1 to be written into the FIFO buffer.
JojoS	0:ab00d9bcd00d	691	* @return Current Slave 1 FIFO enabled value
JojoS	0:ab00d9bcd00d	692	* @see MPU9150_RA_FIFO_EN
JojoS	0:ab00d9bcd00d	693	*/
JojoS	0:ab00d9bcd00d	694	bool MPU9150::getSlave1FIFOEnabled() {
JojoS	0:ab00d9bcd00d	695	i2Cdev.readBit(devAddr, MPU9150_RA_FIFO_EN, MPU9150_SLV1_FIFO_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	696	return buffer[0];
JojoS	0:ab00d9bcd00d	697	}
JojoS	0:ab00d9bcd00d	698	/** Set Slave 1 FIFO enabled value.
JojoS	0:ab00d9bcd00d	699	* @param enabled New Slave 1 FIFO enabled value
JojoS	0:ab00d9bcd00d	700	* @see getSlave1FIFOEnabled()
JojoS	0:ab00d9bcd00d	701	* @see MPU9150_RA_FIFO_EN
JojoS	0:ab00d9bcd00d	702	*/
JojoS	0:ab00d9bcd00d	703	void MPU9150::setSlave1FIFOEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	704	i2Cdev.writeBit(devAddr, MPU9150_RA_FIFO_EN, MPU9150_SLV1_FIFO_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	705	}
JojoS	0:ab00d9bcd00d	706	/** Get Slave 0 FIFO enabled value.
JojoS	0:ab00d9bcd00d	707	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
JojoS	0:ab00d9bcd00d	708	* associated with Slave 0 to be written into the FIFO buffer.
JojoS	0:ab00d9bcd00d	709	* @return Current Slave 0 FIFO enabled value
JojoS	0:ab00d9bcd00d	710	* @see MPU9150_RA_FIFO_EN
JojoS	0:ab00d9bcd00d	711	*/
JojoS	0:ab00d9bcd00d	712	bool MPU9150::getSlave0FIFOEnabled() {
JojoS	0:ab00d9bcd00d	713	i2Cdev.readBit(devAddr, MPU9150_RA_FIFO_EN, MPU9150_SLV0_FIFO_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	714	return buffer[0];
JojoS	0:ab00d9bcd00d	715	}
JojoS	0:ab00d9bcd00d	716	/** Set Slave 0 FIFO enabled value.
JojoS	0:ab00d9bcd00d	717	* @param enabled New Slave 0 FIFO enabled value
JojoS	0:ab00d9bcd00d	718	* @see getSlave0FIFOEnabled()
JojoS	0:ab00d9bcd00d	719	* @see MPU9150_RA_FIFO_EN
JojoS	0:ab00d9bcd00d	720	*/
JojoS	0:ab00d9bcd00d	721	void MPU9150::setSlave0FIFOEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	722	i2Cdev.writeBit(devAddr, MPU9150_RA_FIFO_EN, MPU9150_SLV0_FIFO_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	723	}
JojoS	0:ab00d9bcd00d	724
JojoS	0:ab00d9bcd00d	725	// I2C_MST_CTRL register
JojoS	0:ab00d9bcd00d	726
JojoS	0:ab00d9bcd00d	727	/** Get multi-master enabled value.
JojoS	0:ab00d9bcd00d	728	* Multi-master capability allows multiple I2C masters to operate on the same
JojoS	0:ab00d9bcd00d	729	* bus. In circuits where multi-master capability is required, set MULT_MST_EN
JojoS	0:ab00d9bcd00d	730	* to 1. This will increase current drawn by approximately 30uA.
JojoS	0:ab00d9bcd00d	731	*
JojoS	0:ab00d9bcd00d	732	* In circuits where multi-master capability is required, the state of the I2C
JojoS	0:ab00d9bcd00d	733	* bus must always be monitored by each separate I2C Master. Before an I2C
JojoS	0:ab00d9bcd00d	734	* Master can assume arbitration of the bus, it must first confirm that no other
JojoS	0:ab00d9bcd00d	735	* I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
JojoS	0:ab00d9bcd00d	736	* MPU-60X0's bus arbitration detection logic is turned on, enabling it to
JojoS	0:ab00d9bcd00d	737	* detect when the bus is available.
JojoS	0:ab00d9bcd00d	738	*
JojoS	0:ab00d9bcd00d	739	* @return Current multi-master enabled value
JojoS	0:ab00d9bcd00d	740	* @see MPU9150_RA_I2C_MST_CTRL
JojoS	0:ab00d9bcd00d	741	*/
JojoS	0:ab00d9bcd00d	742	bool MPU9150::getMultiMasterEnabled() {
JojoS	0:ab00d9bcd00d	743	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_MST_CTRL, MPU9150_MULT_MST_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	744	return buffer[0];
JojoS	0:ab00d9bcd00d	745	}
JojoS	0:ab00d9bcd00d	746	/** Set multi-master enabled value.
JojoS	0:ab00d9bcd00d	747	* @param enabled New multi-master enabled value
JojoS	0:ab00d9bcd00d	748	* @see getMultiMasterEnabled()
JojoS	0:ab00d9bcd00d	749	* @see MPU9150_RA_I2C_MST_CTRL
JojoS	0:ab00d9bcd00d	750	*/
JojoS	0:ab00d9bcd00d	751	void MPU9150::setMultiMasterEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	752	i2Cdev.writeBit(devAddr, MPU9150_RA_I2C_MST_CTRL, MPU9150_MULT_MST_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	753	}
JojoS	0:ab00d9bcd00d	754	/** Get wait-for-external-sensor-data enabled value.
JojoS	0:ab00d9bcd00d	755	* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
JojoS	0:ab00d9bcd00d	756	* delayed until External Sensor data from the Slave Devices are loaded into the
JojoS	0:ab00d9bcd00d	757	* EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
JojoS	0:ab00d9bcd00d	758	* data (i.e. from gyro and accel) and external sensor data have been loaded to
JojoS	0:ab00d9bcd00d	759	* their respective data registers (i.e. the data is synced) when the Data Ready
JojoS	0:ab00d9bcd00d	760	* interrupt is triggered.
JojoS	0:ab00d9bcd00d	761	*
JojoS	0:ab00d9bcd00d	762	* @return Current wait-for-external-sensor-data enabled value
JojoS	0:ab00d9bcd00d	763	* @see MPU9150_RA_I2C_MST_CTRL
JojoS	0:ab00d9bcd00d	764	*/
JojoS	0:ab00d9bcd00d	765	bool MPU9150::getWaitForExternalSensorEnabled() {
JojoS	0:ab00d9bcd00d	766	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_MST_CTRL, MPU9150_WAIT_FOR_ES_BIT, buffer);
JojoS	0:ab00d9bcd00d	767	return buffer[0];
JojoS	0:ab00d9bcd00d	768	}
JojoS	0:ab00d9bcd00d	769	/** Set wait-for-external-sensor-data enabled value.
JojoS	0:ab00d9bcd00d	770	* @param enabled New wait-for-external-sensor-data enabled value
JojoS	0:ab00d9bcd00d	771	* @see getWaitForExternalSensorEnabled()
JojoS	0:ab00d9bcd00d	772	* @see MPU9150_RA_I2C_MST_CTRL
JojoS	0:ab00d9bcd00d	773	*/
JojoS	0:ab00d9bcd00d	774	void MPU9150::setWaitForExternalSensorEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	775	i2Cdev.writeBit(devAddr, MPU9150_RA_I2C_MST_CTRL, MPU9150_WAIT_FOR_ES_BIT, enabled);
JojoS	0:ab00d9bcd00d	776	}
JojoS	0:ab00d9bcd00d	777	/** Get Slave 3 FIFO enabled value.
JojoS	0:ab00d9bcd00d	778	* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
JojoS	0:ab00d9bcd00d	779	* associated with Slave 3 to be written into the FIFO buffer.
JojoS	0:ab00d9bcd00d	780	* @return Current Slave 3 FIFO enabled value
JojoS	0:ab00d9bcd00d	781	* @see MPU9150_RA_MST_CTRL
JojoS	0:ab00d9bcd00d	782	*/
JojoS	0:ab00d9bcd00d	783	bool MPU9150::getSlave3FIFOEnabled() {
JojoS	0:ab00d9bcd00d	784	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_MST_CTRL, MPU9150_SLV_3_FIFO_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	785	return buffer[0];
JojoS	0:ab00d9bcd00d	786	}
JojoS	0:ab00d9bcd00d	787	/** Set Slave 3 FIFO enabled value.
JojoS	0:ab00d9bcd00d	788	* @param enabled New Slave 3 FIFO enabled value
JojoS	0:ab00d9bcd00d	789	* @see getSlave3FIFOEnabled()
JojoS	0:ab00d9bcd00d	790	* @see MPU9150_RA_MST_CTRL
JojoS	0:ab00d9bcd00d	791	*/
JojoS	0:ab00d9bcd00d	792	void MPU9150::setSlave3FIFOEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	793	i2Cdev.writeBit(devAddr, MPU9150_RA_I2C_MST_CTRL, MPU9150_SLV_3_FIFO_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	794	}
JojoS	0:ab00d9bcd00d	795	/** Get slave read/write transition enabled value.
JojoS	0:ab00d9bcd00d	796	* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
JojoS	0:ab00d9bcd00d	797	* read to the next slave read. If the bit equals 0, there will be a restart
JojoS	0:ab00d9bcd00d	798	* between reads. If the bit equals 1, there will be a stop followed by a start
JojoS	0:ab00d9bcd00d	799	* of the following read. When a write transaction follows a read transaction,
JojoS	0:ab00d9bcd00d	800	* the stop followed by a start of the successive write will be always used.
JojoS	0:ab00d9bcd00d	801	*
JojoS	0:ab00d9bcd00d	802	* @return Current slave read/write transition enabled value
JojoS	0:ab00d9bcd00d	803	* @see MPU9150_RA_I2C_MST_CTRL
JojoS	0:ab00d9bcd00d	804	*/
JojoS	0:ab00d9bcd00d	805	bool MPU9150::getSlaveReadWriteTransitionEnabled() {
JojoS	0:ab00d9bcd00d	806	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_MST_CTRL, MPU9150_I2C_MST_P_NSR_BIT, buffer);
JojoS	0:ab00d9bcd00d	807	return buffer[0];
JojoS	0:ab00d9bcd00d	808	}
JojoS	0:ab00d9bcd00d	809	/** Set slave read/write transition enabled value.
JojoS	0:ab00d9bcd00d	810	* @param enabled New slave read/write transition enabled value
JojoS	0:ab00d9bcd00d	811	* @see getSlaveReadWriteTransitionEnabled()
JojoS	0:ab00d9bcd00d	812	* @see MPU9150_RA_I2C_MST_CTRL
JojoS	0:ab00d9bcd00d	813	*/
JojoS	0:ab00d9bcd00d	814	void MPU9150::setSlaveReadWriteTransitionEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	815	i2Cdev.writeBit(devAddr, MPU9150_RA_I2C_MST_CTRL, MPU9150_I2C_MST_P_NSR_BIT, enabled);
JojoS	0:ab00d9bcd00d	816	}
JojoS	0:ab00d9bcd00d	817	/** Get I2C master clock speed.
JojoS	0:ab00d9bcd00d	818	* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
JojoS	0:ab00d9bcd00d	819	* MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
JojoS	0:ab00d9bcd00d	820	* the following table:
JojoS	0:ab00d9bcd00d	821	*
JojoS	0:ab00d9bcd00d	822	* <pre>
JojoS	0:ab00d9bcd00d	823	* I2C_MST_CLK \| I2C Master Clock Speed \| 8MHz Clock Divider
JojoS	0:ab00d9bcd00d	824	* ------------+------------------------+-------------------
JojoS	0:ab00d9bcd00d	825	* 0 \| 348kHz \| 23
JojoS	0:ab00d9bcd00d	826	* 1 \| 333kHz \| 24
JojoS	0:ab00d9bcd00d	827	* 2 \| 320kHz \| 25
JojoS	0:ab00d9bcd00d	828	* 3 \| 308kHz \| 26
JojoS	0:ab00d9bcd00d	829	* 4 \| 296kHz \| 27
JojoS	0:ab00d9bcd00d	830	* 5 \| 286kHz \| 28
JojoS	0:ab00d9bcd00d	831	* 6 \| 276kHz \| 29
JojoS	0:ab00d9bcd00d	832	* 7 \| 267kHz \| 30
JojoS	0:ab00d9bcd00d	833	* 8 \| 258kHz \| 31
JojoS	0:ab00d9bcd00d	834	* 9 \| 500kHz \| 16
JojoS	0:ab00d9bcd00d	835	* 10 \| 471kHz \| 17
JojoS	0:ab00d9bcd00d	836	* 11 \| 444kHz \| 18
JojoS	0:ab00d9bcd00d	837	* 12 \| 421kHz \| 19
JojoS	0:ab00d9bcd00d	838	* 13 \| 400kHz \| 20
JojoS	0:ab00d9bcd00d	839	* 14 \| 381kHz \| 21
JojoS	0:ab00d9bcd00d	840	* 15 \| 364kHz \| 22
JojoS	0:ab00d9bcd00d	841	* </pre>
JojoS	0:ab00d9bcd00d	842	*
JojoS	0:ab00d9bcd00d	843	* @return Current I2C master clock speed
JojoS	0:ab00d9bcd00d	844	* @see MPU9150_RA_I2C_MST_CTRL
JojoS	0:ab00d9bcd00d	845	*/
JojoS	0:ab00d9bcd00d	846	uint8_t MPU9150::getMasterClockSpeed() {
JojoS	0:ab00d9bcd00d	847	i2Cdev.readBits(devAddr, MPU9150_RA_I2C_MST_CTRL, MPU9150_I2C_MST_CLK_BIT, MPU9150_I2C_MST_CLK_LENGTH, buffer);
JojoS	0:ab00d9bcd00d	848	return buffer[0];
JojoS	0:ab00d9bcd00d	849	}
JojoS	0:ab00d9bcd00d	850	/** Set I2C master clock speed.
JojoS	0:ab00d9bcd00d	851	* @reparam speed Current I2C master clock speed
JojoS	0:ab00d9bcd00d	852	* @see MPU9150_RA_I2C_MST_CTRL
JojoS	0:ab00d9bcd00d	853	*/
JojoS	0:ab00d9bcd00d	854	void MPU9150::setMasterClockSpeed(uint8_t speed) {
JojoS	0:ab00d9bcd00d	855	i2Cdev.writeBits(devAddr, MPU9150_RA_I2C_MST_CTRL, MPU9150_I2C_MST_CLK_BIT, MPU9150_I2C_MST_CLK_LENGTH, speed);
JojoS	0:ab00d9bcd00d	856	}
JojoS	0:ab00d9bcd00d	857
JojoS	0:ab00d9bcd00d	858	// I2C_SLV* registers (Slave 0-3)
JojoS	0:ab00d9bcd00d	859
JojoS	0:ab00d9bcd00d	860	/** Get the I2C address of the specified slave (0-3).
JojoS	0:ab00d9bcd00d	861	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
JojoS	0:ab00d9bcd00d	862	* operation, and if it is cleared, then it's a write operation. The remaining
JojoS	0:ab00d9bcd00d	863	* bits (6-0) are the 7-bit device address of the slave device.
JojoS	0:ab00d9bcd00d	864	*
JojoS	0:ab00d9bcd00d	865	* In read mode, the result of the read is placed in the lowest available
JojoS	0:ab00d9bcd00d	866	* EXT_SENS_DATA register. For further information regarding the allocation of
JojoS	0:ab00d9bcd00d	867	* read results, please refer to the EXT_SENS_DATA register description
JojoS	0:ab00d9bcd00d	868	* (Registers 73 - 96).
JojoS	0:ab00d9bcd00d	869	*
JojoS	0:ab00d9bcd00d	870	* The MPU-9150 supports a total of five slaves, but Slave 4 has unique
JojoS	0:ab00d9bcd00d	871	* characteristics, and so it has its own functions (getSlave4* and setSlave4*).
JojoS	0:ab00d9bcd00d	872	*
JojoS	0:ab00d9bcd00d	873	* I2C data transactions are performed at the Sample Rate, as defined in
JojoS	0:ab00d9bcd00d	874	* Register 25. The user is responsible for ensuring that I2C data transactions
JojoS	0:ab00d9bcd00d	875	* to and from each enabled Slave can be completed within a single period of the
JojoS	0:ab00d9bcd00d	876	* Sample Rate.
JojoS	0:ab00d9bcd00d	877	*
JojoS	0:ab00d9bcd00d	878	* The I2C slave access rate can be reduced relative to the Sample Rate. This
JojoS	0:ab00d9bcd00d	879	* reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
JojoS	0:ab00d9bcd00d	880	* slave's access rate is reduced relative to the Sample Rate is determined by
JojoS	0:ab00d9bcd00d	881	* I2C_MST_DELAY_CTRL (Register 103).
JojoS	0:ab00d9bcd00d	882	*
JojoS	0:ab00d9bcd00d	883	* The processing order for the slaves is fixed. The sequence followed for
JojoS	0:ab00d9bcd00d	884	* processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
JojoS	0:ab00d9bcd00d	885	* particular Slave is disabled it will be skipped.
JojoS	0:ab00d9bcd00d	886	*
JojoS	0:ab00d9bcd00d	887	* Each slave can either be accessed at the sample rate or at a reduced sample
JojoS	0:ab00d9bcd00d	888	* rate. In a case where some slaves are accessed at the Sample Rate and some
JojoS	0:ab00d9bcd00d	889	* slaves are accessed at the reduced rate, the sequence of accessing the slaves
JojoS	0:ab00d9bcd00d	890	* (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
JojoS	0:ab00d9bcd00d	891	* be skipped if their access rate dictates that they should not be accessed
JojoS	0:ab00d9bcd00d	892	* during that particular cycle. For further information regarding the reduced
JojoS	0:ab00d9bcd00d	893	* access rate, please refer to Register 52. Whether a slave is accessed at the
JojoS	0:ab00d9bcd00d	894	* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
JojoS	0:ab00d9bcd00d	895	* Register 103.
JojoS	0:ab00d9bcd00d	896	*
JojoS	0:ab00d9bcd00d	897	* @param num Slave number (0-3)
JojoS	0:ab00d9bcd00d	898	* @return Current address for specified slave
JojoS	0:ab00d9bcd00d	899	* @see MPU9150_RA_I2C_SLV0_ADDR
JojoS	0:ab00d9bcd00d	900	*/
JojoS	0:ab00d9bcd00d	901	uint8_t MPU9150::getSlaveAddress(uint8_t num) {
JojoS	0:ab00d9bcd00d	902	if (num > 3) return 0;
JojoS	0:ab00d9bcd00d	903	i2Cdev.readByte(devAddr, MPU9150_RA_I2C_SLV0_ADDR + num*3, buffer);
JojoS	0:ab00d9bcd00d	904	return buffer[0];
JojoS	0:ab00d9bcd00d	905	}
JojoS	0:ab00d9bcd00d	906	/** Set the I2C address of the specified slave (0-3).
JojoS	0:ab00d9bcd00d	907	* @param num Slave number (0-3)
JojoS	0:ab00d9bcd00d	908	* @param address New address for specified slave
JojoS	0:ab00d9bcd00d	909	* @see getSlaveAddress()
JojoS	0:ab00d9bcd00d	910	* @see MPU9150_RA_I2C_SLV0_ADDR
JojoS	0:ab00d9bcd00d	911	*/
JojoS	0:ab00d9bcd00d	912	void MPU9150::setSlaveAddress(uint8_t num, uint8_t address) {
JojoS	0:ab00d9bcd00d	913	if (num > 3) return;
JojoS	0:ab00d9bcd00d	914	i2Cdev.writeByte(devAddr, MPU9150_RA_I2C_SLV0_ADDR + num*3, address);
JojoS	0:ab00d9bcd00d	915	}
JojoS	0:ab00d9bcd00d	916	/** Get the active internal register for the specified slave (0-3).
JojoS	0:ab00d9bcd00d	917	* Read/write operations for this slave will be done to whatever internal
JojoS	0:ab00d9bcd00d	918	* register address is stored in this MPU register.
JojoS	0:ab00d9bcd00d	919	*
JojoS	0:ab00d9bcd00d	920	* The MPU-9150 supports a total of five slaves, but Slave 4 has unique
JojoS	0:ab00d9bcd00d	921	* characteristics, and so it has its own functions.
JojoS	0:ab00d9bcd00d	922	*
JojoS	0:ab00d9bcd00d	923	* @param num Slave number (0-3)
JojoS	0:ab00d9bcd00d	924	* @return Current active register for specified slave
JojoS	0:ab00d9bcd00d	925	* @see MPU9150_RA_I2C_SLV0_REG
JojoS	0:ab00d9bcd00d	926	*/
JojoS	0:ab00d9bcd00d	927	uint8_t MPU9150::getSlaveRegister(uint8_t num) {
JojoS	0:ab00d9bcd00d	928	if (num > 3) return 0;
JojoS	0:ab00d9bcd00d	929	i2Cdev.readByte(devAddr, MPU9150_RA_I2C_SLV0_REG + num*3, buffer);
JojoS	0:ab00d9bcd00d	930	return buffer[0];
JojoS	0:ab00d9bcd00d	931	}
JojoS	0:ab00d9bcd00d	932	/** Set the active internal register for the specified slave (0-3).
JojoS	0:ab00d9bcd00d	933	* @param num Slave number (0-3)
JojoS	0:ab00d9bcd00d	934	* @param reg New active register for specified slave
JojoS	0:ab00d9bcd00d	935	* @see getSlaveRegister()
JojoS	0:ab00d9bcd00d	936	* @see MPU9150_RA_I2C_SLV0_REG
JojoS	0:ab00d9bcd00d	937	*/
JojoS	0:ab00d9bcd00d	938	void MPU9150::setSlaveRegister(uint8_t num, uint8_t reg) {
JojoS	0:ab00d9bcd00d	939	if (num > 3) return;
JojoS	0:ab00d9bcd00d	940	i2Cdev.writeByte(devAddr, MPU9150_RA_I2C_SLV0_REG + num*3, reg);
JojoS	0:ab00d9bcd00d	941	}
JojoS	0:ab00d9bcd00d	942	/** Get the enabled value for the specified slave (0-3).
JojoS	0:ab00d9bcd00d	943	* When set to 1, this bit enables Slave 0 for data transfer operations. When
JojoS	0:ab00d9bcd00d	944	* cleared to 0, this bit disables Slave 0 from data transfer operations.
JojoS	0:ab00d9bcd00d	945	* @param num Slave number (0-3)
JojoS	0:ab00d9bcd00d	946	* @return Current enabled value for specified slave
JojoS	0:ab00d9bcd00d	947	* @see MPU9150_RA_I2C_SLV0_CTRL
JojoS	0:ab00d9bcd00d	948	*/
JojoS	0:ab00d9bcd00d	949	bool MPU9150::getSlaveEnabled(uint8_t num) {
JojoS	0:ab00d9bcd00d	950	if (num > 3) return 0;
JojoS	0:ab00d9bcd00d	951	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_SLV0_CTRL + num*3, MPU9150_I2C_SLV_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	952	return buffer[0];
JojoS	0:ab00d9bcd00d	953	}
JojoS	0:ab00d9bcd00d	954	/** Set the enabled value for the specified slave (0-3).
JojoS	0:ab00d9bcd00d	955	* @param num Slave number (0-3)
JojoS	0:ab00d9bcd00d	956	* @param enabled New enabled value for specified slave
JojoS	0:ab00d9bcd00d	957	* @see getSlaveEnabled()
JojoS	0:ab00d9bcd00d	958	* @see MPU9150_RA_I2C_SLV0_CTRL
JojoS	0:ab00d9bcd00d	959	*/
JojoS	0:ab00d9bcd00d	960	void MPU9150::setSlaveEnabled(uint8_t num, bool enabled) {
JojoS	0:ab00d9bcd00d	961	if (num > 3) return;
JojoS	0:ab00d9bcd00d	962	i2Cdev.writeBit(devAddr, MPU9150_RA_I2C_SLV0_CTRL + num*3, MPU9150_I2C_SLV_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	963	}
JojoS	0:ab00d9bcd00d	964	/** Get word pair byte-swapping enabled for the specified slave (0-3).
JojoS	0:ab00d9bcd00d	965	* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
JojoS	0:ab00d9bcd00d	966	* the high and low bytes of a word pair are swapped. Please refer to
JojoS	0:ab00d9bcd00d	967	* I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0,
JojoS	0:ab00d9bcd00d	968	* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
JojoS	0:ab00d9bcd00d	969	* registers in the order they were transferred.
JojoS	0:ab00d9bcd00d	970	*
JojoS	0:ab00d9bcd00d	971	* @param num Slave number (0-3)
JojoS	0:ab00d9bcd00d	972	* @return Current word pair byte-swapping enabled value for specified slave
JojoS	0:ab00d9bcd00d	973	* @see MPU9150_RA_I2C_SLV0_CTRL
JojoS	0:ab00d9bcd00d	974	*/
JojoS	0:ab00d9bcd00d	975	bool MPU9150::getSlaveWordByteSwap(uint8_t num) {
JojoS	0:ab00d9bcd00d	976	if (num > 3) return 0;
JojoS	0:ab00d9bcd00d	977	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_SLV0_CTRL + num*3, MPU9150_I2C_SLV_BYTE_SW_BIT, buffer);
JojoS	0:ab00d9bcd00d	978	return buffer[0];
JojoS	0:ab00d9bcd00d	979	}
JojoS	0:ab00d9bcd00d	980	/** Set word pair byte-swapping enabled for the specified slave (0-3).
JojoS	0:ab00d9bcd00d	981	* @param num Slave number (0-3)
JojoS	0:ab00d9bcd00d	982	* @param enabled New word pair byte-swapping enabled value for specified slave
JojoS	0:ab00d9bcd00d	983	* @see getSlaveWordByteSwap()
JojoS	0:ab00d9bcd00d	984	* @see MPU9150_RA_I2C_SLV0_CTRL
JojoS	0:ab00d9bcd00d	985	*/
JojoS	0:ab00d9bcd00d	986	void MPU9150::setSlaveWordByteSwap(uint8_t num, bool enabled) {
JojoS	0:ab00d9bcd00d	987	if (num > 3) return;
JojoS	0:ab00d9bcd00d	988	i2Cdev.writeBit(devAddr, MPU9150_RA_I2C_SLV0_CTRL + num*3, MPU9150_I2C_SLV_BYTE_SW_BIT, enabled);
JojoS	0:ab00d9bcd00d	989	}
JojoS	0:ab00d9bcd00d	990	/** Get write mode for the specified slave (0-3).
JojoS	0:ab00d9bcd00d	991	* When set to 1, the transaction will read or write data only. When cleared to
JojoS	0:ab00d9bcd00d	992	* 0, the transaction will write a register address prior to reading or writing
JojoS	0:ab00d9bcd00d	993	* data. This should equal 0 when specifying the register address within the
JojoS	0:ab00d9bcd00d	994	* Slave device to/from which the ensuing data transaction will take place.
JojoS	0:ab00d9bcd00d	995	*
JojoS	0:ab00d9bcd00d	996	* @param num Slave number (0-3)
JojoS	0:ab00d9bcd00d	997	* @return Current write mode for specified slave (0 = register address + data, 1 = data only)
JojoS	0:ab00d9bcd00d	998	* @see MPU9150_RA_I2C_SLV0_CTRL
JojoS	0:ab00d9bcd00d	999	*/
JojoS	0:ab00d9bcd00d	1000	bool MPU9150::getSlaveWriteMode(uint8_t num) {
JojoS	0:ab00d9bcd00d	1001	if (num > 3) return 0;
JojoS	0:ab00d9bcd00d	1002	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_SLV0_CTRL + num*3, MPU9150_I2C_SLV_REG_DIS_BIT, buffer);
JojoS	0:ab00d9bcd00d	1003	return buffer[0];
JojoS	0:ab00d9bcd00d	1004	}
JojoS	0:ab00d9bcd00d	1005	/** Set write mode for the specified slave (0-3).
JojoS	0:ab00d9bcd00d	1006	* @param num Slave number (0-3)
JojoS	0:ab00d9bcd00d	1007	* @param mode New write mode for specified slave (0 = register address + data, 1 = data only)
JojoS	0:ab00d9bcd00d	1008	* @see getSlaveWriteMode()
JojoS	0:ab00d9bcd00d	1009	* @see MPU9150_RA_I2C_SLV0_CTRL
JojoS	0:ab00d9bcd00d	1010	*/
JojoS	0:ab00d9bcd00d	1011	void MPU9150::setSlaveWriteMode(uint8_t num, bool mode) {
JojoS	0:ab00d9bcd00d	1012	if (num > 3) return;
JojoS	0:ab00d9bcd00d	1013	i2Cdev.writeBit(devAddr, MPU9150_RA_I2C_SLV0_CTRL + num*3, MPU9150_I2C_SLV_REG_DIS_BIT, mode);
JojoS	0:ab00d9bcd00d	1014	}
JojoS	0:ab00d9bcd00d	1015	/** Get word pair grouping order offset for the specified slave (0-3).
JojoS	0:ab00d9bcd00d	1016	* This sets specifies the grouping order of word pairs received from registers.
JojoS	0:ab00d9bcd00d	1017	* When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
JojoS	0:ab00d9bcd00d	1018	* then odd register addresses) are paired to form a word. When set to 1, bytes
JojoS	0:ab00d9bcd00d	1019	* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
JojoS	0:ab00d9bcd00d	1020	* register addresses) are paired to form a word.
JojoS	0:ab00d9bcd00d	1021	*
JojoS	0:ab00d9bcd00d	1022	* @param num Slave number (0-3)
JojoS	0:ab00d9bcd00d	1023	* @return Current word pair grouping order offset for specified slave
JojoS	0:ab00d9bcd00d	1024	* @see MPU9150_RA_I2C_SLV0_CTRL
JojoS	0:ab00d9bcd00d	1025	*/
JojoS	0:ab00d9bcd00d	1026	bool MPU9150::getSlaveWordGroupOffset(uint8_t num) {
JojoS	0:ab00d9bcd00d	1027	if (num > 3) return 0;
JojoS	0:ab00d9bcd00d	1028	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_SLV0_CTRL + num*3, MPU9150_I2C_SLV_GRP_BIT, buffer);
JojoS	0:ab00d9bcd00d	1029	return buffer[0];
JojoS	0:ab00d9bcd00d	1030	}
JojoS	0:ab00d9bcd00d	1031	/** Set word pair grouping order offset for the specified slave (0-3).
JojoS	0:ab00d9bcd00d	1032	* @param num Slave number (0-3)
JojoS	0:ab00d9bcd00d	1033	* @param enabled New word pair grouping order offset for specified slave
JojoS	0:ab00d9bcd00d	1034	* @see getSlaveWordGroupOffset()
JojoS	0:ab00d9bcd00d	1035	* @see MPU9150_RA_I2C_SLV0_CTRL
JojoS	0:ab00d9bcd00d	1036	*/
JojoS	0:ab00d9bcd00d	1037	void MPU9150::setSlaveWordGroupOffset(uint8_t num, bool enabled) {
JojoS	0:ab00d9bcd00d	1038	if (num > 3) return;
JojoS	0:ab00d9bcd00d	1039	i2Cdev.writeBit(devAddr, MPU9150_RA_I2C_SLV0_CTRL + num*3, MPU9150_I2C_SLV_GRP_BIT, enabled);
JojoS	0:ab00d9bcd00d	1040	}
JojoS	0:ab00d9bcd00d	1041	/** Get number of bytes to read for the specified slave (0-3).
JojoS	0:ab00d9bcd00d	1042	* Specifies the number of bytes transferred to and from Slave 0. Clearing this
JojoS	0:ab00d9bcd00d	1043	* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
JojoS	0:ab00d9bcd00d	1044	* @param num Slave number (0-3)
JojoS	0:ab00d9bcd00d	1045	* @return Number of bytes to read for specified slave
JojoS	0:ab00d9bcd00d	1046	* @see MPU9150_RA_I2C_SLV0_CTRL
JojoS	0:ab00d9bcd00d	1047	*/
JojoS	0:ab00d9bcd00d	1048	uint8_t MPU9150::getSlaveDataLength(uint8_t num) {
JojoS	0:ab00d9bcd00d	1049	if (num > 3) return 0;
JojoS	0:ab00d9bcd00d	1050	i2Cdev.readBits(devAddr, MPU9150_RA_I2C_SLV0_CTRL + num*3, MPU9150_I2C_SLV_LEN_BIT, MPU9150_I2C_SLV_LEN_LENGTH, buffer);
JojoS	0:ab00d9bcd00d	1051	return buffer[0];
JojoS	0:ab00d9bcd00d	1052	}
JojoS	0:ab00d9bcd00d	1053	/** Set number of bytes to read for the specified slave (0-3).
JojoS	0:ab00d9bcd00d	1054	* @param num Slave number (0-3)
JojoS	0:ab00d9bcd00d	1055	* @param length Number of bytes to read for specified slave
JojoS	0:ab00d9bcd00d	1056	* @see getSlaveDataLength()
JojoS	0:ab00d9bcd00d	1057	* @see MPU9150_RA_I2C_SLV0_CTRL
JojoS	0:ab00d9bcd00d	1058	*/
JojoS	0:ab00d9bcd00d	1059	void MPU9150::setSlaveDataLength(uint8_t num, uint8_t length) {
JojoS	0:ab00d9bcd00d	1060	if (num > 3) return;
JojoS	0:ab00d9bcd00d	1061	i2Cdev.writeBits(devAddr, MPU9150_RA_I2C_SLV0_CTRL + num*3, MPU9150_I2C_SLV_LEN_BIT, MPU9150_I2C_SLV_LEN_LENGTH, length);
JojoS	0:ab00d9bcd00d	1062	}
JojoS	0:ab00d9bcd00d	1063
JojoS	0:ab00d9bcd00d	1064	// I2C_SLV* registers (Slave 4)
JojoS	0:ab00d9bcd00d	1065
JojoS	0:ab00d9bcd00d	1066	/** Get the I2C address of Slave 4.
JojoS	0:ab00d9bcd00d	1067	* Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
JojoS	0:ab00d9bcd00d	1068	* operation, and if it is cleared, then it's a write operation. The remaining
JojoS	0:ab00d9bcd00d	1069	* bits (6-0) are the 7-bit device address of the slave device.
JojoS	0:ab00d9bcd00d	1070	*
JojoS	0:ab00d9bcd00d	1071	* @return Current address for Slave 4
JojoS	0:ab00d9bcd00d	1072	* @see getSlaveAddress()
JojoS	0:ab00d9bcd00d	1073	* @see MPU9150_RA_I2C_SLV4_ADDR
JojoS	0:ab00d9bcd00d	1074	*/
JojoS	0:ab00d9bcd00d	1075	uint8_t MPU9150::getSlave4Address() {
JojoS	0:ab00d9bcd00d	1076	i2Cdev.readByte(devAddr, MPU9150_RA_I2C_SLV4_ADDR, buffer);
JojoS	0:ab00d9bcd00d	1077	return buffer[0];
JojoS	0:ab00d9bcd00d	1078	}
JojoS	0:ab00d9bcd00d	1079	/** Set the I2C address of Slave 4.
JojoS	0:ab00d9bcd00d	1080	* @param address New address for Slave 4
JojoS	0:ab00d9bcd00d	1081	* @see getSlave4Address()
JojoS	0:ab00d9bcd00d	1082	* @see MPU9150_RA_I2C_SLV4_ADDR
JojoS	0:ab00d9bcd00d	1083	*/
JojoS	0:ab00d9bcd00d	1084	void MPU9150::setSlave4Address(uint8_t address) {
JojoS	0:ab00d9bcd00d	1085	i2Cdev.writeByte(devAddr, MPU9150_RA_I2C_SLV4_ADDR, address);
JojoS	0:ab00d9bcd00d	1086	}
JojoS	0:ab00d9bcd00d	1087	/** Get the active internal register for the Slave 4.
JojoS	0:ab00d9bcd00d	1088	* Read/write operations for this slave will be done to whatever internal
JojoS	0:ab00d9bcd00d	1089	* register address is stored in this MPU register.
JojoS	0:ab00d9bcd00d	1090	*
JojoS	0:ab00d9bcd00d	1091	* @return Current active register for Slave 4
JojoS	0:ab00d9bcd00d	1092	* @see MPU9150_RA_I2C_SLV4_REG
JojoS	0:ab00d9bcd00d	1093	*/
JojoS	0:ab00d9bcd00d	1094	uint8_t MPU9150::getSlave4Register() {
JojoS	0:ab00d9bcd00d	1095	i2Cdev.readByte(devAddr, MPU9150_RA_I2C_SLV4_REG, buffer);
JojoS	0:ab00d9bcd00d	1096	return buffer[0];
JojoS	0:ab00d9bcd00d	1097	}
JojoS	0:ab00d9bcd00d	1098	/** Set the active internal register for Slave 4.
JojoS	0:ab00d9bcd00d	1099	* @param reg New active register for Slave 4
JojoS	0:ab00d9bcd00d	1100	* @see getSlave4Register()
JojoS	0:ab00d9bcd00d	1101	* @see MPU9150_RA_I2C_SLV4_REG
JojoS	0:ab00d9bcd00d	1102	*/
JojoS	0:ab00d9bcd00d	1103	void MPU9150::setSlave4Register(uint8_t reg) {
JojoS	0:ab00d9bcd00d	1104	i2Cdev.writeByte(devAddr, MPU9150_RA_I2C_SLV4_REG, reg);
JojoS	0:ab00d9bcd00d	1105	}
JojoS	0:ab00d9bcd00d	1106	/** Set new byte to write to Slave 4.
JojoS	0:ab00d9bcd00d	1107	* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
JojoS	0:ab00d9bcd00d	1108	* is set 1 (set to read), this register has no effect.
JojoS	0:ab00d9bcd00d	1109	* @param data New byte to write to Slave 4
JojoS	0:ab00d9bcd00d	1110	* @see MPU9150_RA_I2C_SLV4_DO
JojoS	0:ab00d9bcd00d	1111	*/
JojoS	0:ab00d9bcd00d	1112	void MPU9150::setSlave4OutputByte(uint8_t data) {
JojoS	0:ab00d9bcd00d	1113	i2Cdev.writeByte(devAddr, MPU9150_RA_I2C_SLV4_DO, data);
JojoS	0:ab00d9bcd00d	1114	}
JojoS	0:ab00d9bcd00d	1115	/** Get the enabled value for the Slave 4.
JojoS	0:ab00d9bcd00d	1116	* When set to 1, this bit enables Slave 4 for data transfer operations. When
JojoS	0:ab00d9bcd00d	1117	* cleared to 0, this bit disables Slave 4 from data transfer operations.
JojoS	0:ab00d9bcd00d	1118	* @return Current enabled value for Slave 4
JojoS	0:ab00d9bcd00d	1119	* @see MPU9150_RA_I2C_SLV4_CTRL
JojoS	0:ab00d9bcd00d	1120	*/
JojoS	0:ab00d9bcd00d	1121	bool MPU9150::getSlave4Enabled() {
JojoS	0:ab00d9bcd00d	1122	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_SLV4_CTRL, MPU9150_I2C_SLV4_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	1123	return buffer[0];
JojoS	0:ab00d9bcd00d	1124	}
JojoS	0:ab00d9bcd00d	1125	/** Set the enabled value for Slave 4.
JojoS	0:ab00d9bcd00d	1126	* @param enabled New enabled value for Slave 4
JojoS	0:ab00d9bcd00d	1127	* @see getSlave4Enabled()
JojoS	0:ab00d9bcd00d	1128	* @see MPU9150_RA_I2C_SLV4_CTRL
JojoS	0:ab00d9bcd00d	1129	*/
JojoS	0:ab00d9bcd00d	1130	void MPU9150::setSlave4Enabled(bool enabled) {
JojoS	0:ab00d9bcd00d	1131	i2Cdev.writeBit(devAddr, MPU9150_RA_I2C_SLV4_CTRL, MPU9150_I2C_SLV4_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	1132	}
JojoS	0:ab00d9bcd00d	1133	/** Get the enabled value for Slave 4 transaction interrupts.
JojoS	0:ab00d9bcd00d	1134	* When set to 1, this bit enables the generation of an interrupt signal upon
JojoS	0:ab00d9bcd00d	1135	* completion of a Slave 4 transaction. When cleared to 0, this bit disables the
JojoS	0:ab00d9bcd00d	1136	* generation of an interrupt signal upon completion of a Slave 4 transaction.
JojoS	0:ab00d9bcd00d	1137	* The interrupt status can be observed in Register 54.
JojoS	0:ab00d9bcd00d	1138	*
JojoS	0:ab00d9bcd00d	1139	* @return Current enabled value for Slave 4 transaction interrupts.
JojoS	0:ab00d9bcd00d	1140	* @see MPU9150_RA_I2C_SLV4_CTRL
JojoS	0:ab00d9bcd00d	1141	*/
JojoS	0:ab00d9bcd00d	1142	bool MPU9150::getSlave4InterruptEnabled() {
JojoS	0:ab00d9bcd00d	1143	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_SLV4_CTRL, MPU9150_I2C_SLV4_INT_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	1144	return buffer[0];
JojoS	0:ab00d9bcd00d	1145	}
JojoS	0:ab00d9bcd00d	1146	/** Set the enabled value for Slave 4 transaction interrupts.
JojoS	0:ab00d9bcd00d	1147	* @param enabled New enabled value for Slave 4 transaction interrupts.
JojoS	0:ab00d9bcd00d	1148	* @see getSlave4InterruptEnabled()
JojoS	0:ab00d9bcd00d	1149	* @see MPU9150_RA_I2C_SLV4_CTRL
JojoS	0:ab00d9bcd00d	1150	*/
JojoS	0:ab00d9bcd00d	1151	void MPU9150::setSlave4InterruptEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	1152	i2Cdev.writeBit(devAddr, MPU9150_RA_I2C_SLV4_CTRL, MPU9150_I2C_SLV4_INT_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	1153	}
JojoS	0:ab00d9bcd00d	1154	/** Get write mode for Slave 4.
JojoS	0:ab00d9bcd00d	1155	* When set to 1, the transaction will read or write data only. When cleared to
JojoS	0:ab00d9bcd00d	1156	* 0, the transaction will write a register address prior to reading or writing
JojoS	0:ab00d9bcd00d	1157	* data. This should equal 0 when specifying the register address within the
JojoS	0:ab00d9bcd00d	1158	* Slave device to/from which the ensuing data transaction will take place.
JojoS	0:ab00d9bcd00d	1159	*
JojoS	0:ab00d9bcd00d	1160	* @return Current write mode for Slave 4 (0 = register address + data, 1 = data only)
JojoS	0:ab00d9bcd00d	1161	* @see MPU9150_RA_I2C_SLV4_CTRL
JojoS	0:ab00d9bcd00d	1162	*/
JojoS	0:ab00d9bcd00d	1163	bool MPU9150::getSlave4WriteMode() {
JojoS	0:ab00d9bcd00d	1164	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_SLV4_CTRL, MPU9150_I2C_SLV4_REG_DIS_BIT, buffer);
JojoS	0:ab00d9bcd00d	1165	return buffer[0];
JojoS	0:ab00d9bcd00d	1166	}
JojoS	0:ab00d9bcd00d	1167	/** Set write mode for the Slave 4.
JojoS	0:ab00d9bcd00d	1168	* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
JojoS	0:ab00d9bcd00d	1169	* @see getSlave4WriteMode()
JojoS	0:ab00d9bcd00d	1170	* @see MPU9150_RA_I2C_SLV4_CTRL
JojoS	0:ab00d9bcd00d	1171	*/
JojoS	0:ab00d9bcd00d	1172	void MPU9150::setSlave4WriteMode(bool mode) {
JojoS	0:ab00d9bcd00d	1173	i2Cdev.writeBit(devAddr, MPU9150_RA_I2C_SLV4_CTRL, MPU9150_I2C_SLV4_REG_DIS_BIT, mode);
JojoS	0:ab00d9bcd00d	1174	}
JojoS	0:ab00d9bcd00d	1175	/** Get Slave 4 master delay value.
JojoS	0:ab00d9bcd00d	1176	* This configures the reduced access rate of I2C slaves relative to the Sample
JojoS	0:ab00d9bcd00d	1177	* Rate. When a slave's access rate is decreased relative to the Sample Rate,
JojoS	0:ab00d9bcd00d	1178	* the slave is accessed every:
JojoS	0:ab00d9bcd00d	1179	*
JojoS	0:ab00d9bcd00d	1180	* 1 / (1 + I2C_MST_DLY) samples
JojoS	0:ab00d9bcd00d	1181	*
JojoS	0:ab00d9bcd00d	1182	* This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
JojoS	0:ab00d9bcd00d	1183	* DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
JojoS	0:ab00d9bcd00d	1184	* the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
JojoS	0:ab00d9bcd00d	1185	* further information regarding the Sample Rate, please refer to register 25.
JojoS	0:ab00d9bcd00d	1186	*
JojoS	0:ab00d9bcd00d	1187	* @return Current Slave 4 master delay value
JojoS	0:ab00d9bcd00d	1188	* @see MPU9150_RA_I2C_SLV4_CTRL
JojoS	0:ab00d9bcd00d	1189	*/
JojoS	0:ab00d9bcd00d	1190	uint8_t MPU9150::getSlave4MasterDelay() {
JojoS	0:ab00d9bcd00d	1191	i2Cdev.readBits(devAddr, MPU9150_RA_I2C_SLV4_CTRL, MPU9150_I2C_SLV4_MST_DLY_BIT, MPU9150_I2C_SLV4_MST_DLY_LENGTH, buffer);
JojoS	0:ab00d9bcd00d	1192	return buffer[0];
JojoS	0:ab00d9bcd00d	1193	}
JojoS	0:ab00d9bcd00d	1194	/** Set Slave 4 master delay value.
JojoS	0:ab00d9bcd00d	1195	* @param delay New Slave 4 master delay value
JojoS	0:ab00d9bcd00d	1196	* @see getSlave4MasterDelay()
JojoS	0:ab00d9bcd00d	1197	* @see MPU9150_RA_I2C_SLV4_CTRL
JojoS	0:ab00d9bcd00d	1198	*/
JojoS	0:ab00d9bcd00d	1199	void MPU9150::setSlave4MasterDelay(uint8_t delay) {
JojoS	0:ab00d9bcd00d	1200	i2Cdev.writeBits(devAddr, MPU9150_RA_I2C_SLV4_CTRL, MPU9150_I2C_SLV4_MST_DLY_BIT, MPU9150_I2C_SLV4_MST_DLY_LENGTH, delay);
JojoS	0:ab00d9bcd00d	1201	}
JojoS	0:ab00d9bcd00d	1202	/** Get last available byte read from Slave 4.
JojoS	0:ab00d9bcd00d	1203	* This register stores the data read from Slave 4. This field is populated
JojoS	0:ab00d9bcd00d	1204	* after a read transaction.
JojoS	0:ab00d9bcd00d	1205	* @return Last available byte read from to Slave 4
JojoS	0:ab00d9bcd00d	1206	* @see MPU9150_RA_I2C_SLV4_DI
JojoS	0:ab00d9bcd00d	1207	*/
JojoS	0:ab00d9bcd00d	1208	uint8_t MPU9150::getSlate4InputByte() {
JojoS	0:ab00d9bcd00d	1209	i2Cdev.readByte(devAddr, MPU9150_RA_I2C_SLV4_DI, buffer);
JojoS	0:ab00d9bcd00d	1210	return buffer[0];
JojoS	0:ab00d9bcd00d	1211	}
JojoS	0:ab00d9bcd00d	1212
JojoS	0:ab00d9bcd00d	1213	// I2C_MST_STATUS register
JojoS	0:ab00d9bcd00d	1214
JojoS	0:ab00d9bcd00d	1215	/** Get FSYNC interrupt status.
JojoS	0:ab00d9bcd00d	1216	* This bit reflects the status of the FSYNC interrupt from an external device
JojoS	0:ab00d9bcd00d	1217	* into the MPU-60X0. This is used as a way to pass an external interrupt
JojoS	0:ab00d9bcd00d	1218	* through the MPU-60X0 to the host application processor. When set to 1, this
JojoS	0:ab00d9bcd00d	1219	* bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
JojoS	0:ab00d9bcd00d	1220	* (Register 55).
JojoS	0:ab00d9bcd00d	1221	* @return FSYNC interrupt status
JojoS	0:ab00d9bcd00d	1222	* @see MPU9150_RA_I2C_MST_STATUS
JojoS	0:ab00d9bcd00d	1223	*/
JojoS	0:ab00d9bcd00d	1224	bool MPU9150::getPassthroughStatus() {
JojoS	0:ab00d9bcd00d	1225	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_MST_STATUS, MPU9150_MST_PASS_THROUGH_BIT, buffer);
JojoS	0:ab00d9bcd00d	1226	return buffer[0];
JojoS	0:ab00d9bcd00d	1227	}
JojoS	0:ab00d9bcd00d	1228	/** Get Slave 4 transaction done status.
JojoS	0:ab00d9bcd00d	1229	* Automatically sets to 1 when a Slave 4 transaction has completed. This
JojoS	0:ab00d9bcd00d	1230	* triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
JojoS	0:ab00d9bcd00d	1231	* (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
JojoS	0:ab00d9bcd00d	1232	* I2C_SLV4_CTRL register (Register 52).
JojoS	0:ab00d9bcd00d	1233	* @return Slave 4 transaction done status
JojoS	0:ab00d9bcd00d	1234	* @see MPU9150_RA_I2C_MST_STATUS
JojoS	0:ab00d9bcd00d	1235	*/
JojoS	0:ab00d9bcd00d	1236	bool MPU9150::getSlave4IsDone() {
JojoS	0:ab00d9bcd00d	1237	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_MST_STATUS, MPU9150_MST_I2C_SLV4_DONE_BIT, buffer);
JojoS	0:ab00d9bcd00d	1238	return buffer[0];
JojoS	0:ab00d9bcd00d	1239	}
JojoS	0:ab00d9bcd00d	1240	/** Get master arbitration lost status.
JojoS	0:ab00d9bcd00d	1241	* This bit automatically sets to 1 when the I2C Master has lost arbitration of
JojoS	0:ab00d9bcd00d	1242	* the auxiliary I2C bus (an error condition). This triggers an interrupt if the
JojoS	0:ab00d9bcd00d	1243	* I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
JojoS	0:ab00d9bcd00d	1244	* @return Master arbitration lost status
JojoS	0:ab00d9bcd00d	1245	* @see MPU9150_RA_I2C_MST_STATUS
JojoS	0:ab00d9bcd00d	1246	*/
JojoS	0:ab00d9bcd00d	1247	bool MPU9150::getLostArbitration() {
JojoS	0:ab00d9bcd00d	1248	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_MST_STATUS, MPU9150_MST_I2C_LOST_ARB_BIT, buffer);
JojoS	0:ab00d9bcd00d	1249	return buffer[0];
JojoS	0:ab00d9bcd00d	1250	}
JojoS	0:ab00d9bcd00d	1251	/** Get Slave 4 NACK status.
JojoS	0:ab00d9bcd00d	1252	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
JojoS	0:ab00d9bcd00d	1253	* transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
JojoS	0:ab00d9bcd00d	1254	* bit in the INT_ENABLE register (Register 56) is asserted.
JojoS	0:ab00d9bcd00d	1255	* @return Slave 4 NACK interrupt status
JojoS	0:ab00d9bcd00d	1256	* @see MPU9150_RA_I2C_MST_STATUS
JojoS	0:ab00d9bcd00d	1257	*/
JojoS	0:ab00d9bcd00d	1258	bool MPU9150::getSlave4Nack() {
JojoS	0:ab00d9bcd00d	1259	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_MST_STATUS, MPU9150_MST_I2C_SLV4_NACK_BIT, buffer);
JojoS	0:ab00d9bcd00d	1260	return buffer[0];
JojoS	0:ab00d9bcd00d	1261	}
JojoS	0:ab00d9bcd00d	1262	/** Get Slave 3 NACK status.
JojoS	0:ab00d9bcd00d	1263	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
JojoS	0:ab00d9bcd00d	1264	* transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
JojoS	0:ab00d9bcd00d	1265	* bit in the INT_ENABLE register (Register 56) is asserted.
JojoS	0:ab00d9bcd00d	1266	* @return Slave 3 NACK interrupt status
JojoS	0:ab00d9bcd00d	1267	* @see MPU9150_RA_I2C_MST_STATUS
JojoS	0:ab00d9bcd00d	1268	*/
JojoS	0:ab00d9bcd00d	1269	bool MPU9150::getSlave3Nack() {
JojoS	0:ab00d9bcd00d	1270	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_MST_STATUS, MPU9150_MST_I2C_SLV3_NACK_BIT, buffer);
JojoS	0:ab00d9bcd00d	1271	return buffer[0];
JojoS	0:ab00d9bcd00d	1272	}
JojoS	0:ab00d9bcd00d	1273	/** Get Slave 2 NACK status.
JojoS	0:ab00d9bcd00d	1274	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
JojoS	0:ab00d9bcd00d	1275	* transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
JojoS	0:ab00d9bcd00d	1276	* bit in the INT_ENABLE register (Register 56) is asserted.
JojoS	0:ab00d9bcd00d	1277	* @return Slave 2 NACK interrupt status
JojoS	0:ab00d9bcd00d	1278	* @see MPU9150_RA_I2C_MST_STATUS
JojoS	0:ab00d9bcd00d	1279	*/
JojoS	0:ab00d9bcd00d	1280	bool MPU9150::getSlave2Nack() {
JojoS	0:ab00d9bcd00d	1281	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_MST_STATUS, MPU9150_MST_I2C_SLV2_NACK_BIT, buffer);
JojoS	0:ab00d9bcd00d	1282	return buffer[0];
JojoS	0:ab00d9bcd00d	1283	}
JojoS	0:ab00d9bcd00d	1284	/** Get Slave 1 NACK status.
JojoS	0:ab00d9bcd00d	1285	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
JojoS	0:ab00d9bcd00d	1286	* transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
JojoS	0:ab00d9bcd00d	1287	* bit in the INT_ENABLE register (Register 56) is asserted.
JojoS	0:ab00d9bcd00d	1288	* @return Slave 1 NACK interrupt status
JojoS	0:ab00d9bcd00d	1289	* @see MPU9150_RA_I2C_MST_STATUS
JojoS	0:ab00d9bcd00d	1290	*/
JojoS	0:ab00d9bcd00d	1291	bool MPU9150::getSlave1Nack() {
JojoS	0:ab00d9bcd00d	1292	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_MST_STATUS, MPU9150_MST_I2C_SLV1_NACK_BIT, buffer);
JojoS	0:ab00d9bcd00d	1293	return buffer[0];
JojoS	0:ab00d9bcd00d	1294	}
JojoS	0:ab00d9bcd00d	1295	/** Get Slave 0 NACK status.
JojoS	0:ab00d9bcd00d	1296	* This bit automatically sets to 1 when the I2C Master receives a NACK in a
JojoS	0:ab00d9bcd00d	1297	* transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
JojoS	0:ab00d9bcd00d	1298	* bit in the INT_ENABLE register (Register 56) is asserted.
JojoS	0:ab00d9bcd00d	1299	* @return Slave 0 NACK interrupt status
JojoS	0:ab00d9bcd00d	1300	* @see MPU9150_RA_I2C_MST_STATUS
JojoS	0:ab00d9bcd00d	1301	*/
JojoS	0:ab00d9bcd00d	1302	bool MPU9150::getSlave0Nack() {
JojoS	0:ab00d9bcd00d	1303	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_MST_STATUS, MPU9150_MST_I2C_SLV0_NACK_BIT, buffer);
JojoS	0:ab00d9bcd00d	1304	return buffer[0];
JojoS	0:ab00d9bcd00d	1305	}
JojoS	0:ab00d9bcd00d	1306
JojoS	0:ab00d9bcd00d	1307	// INT_PIN_CFG register
JojoS	0:ab00d9bcd00d	1308
JojoS	0:ab00d9bcd00d	1309	/** Get interrupt logic level mode.
JojoS	0:ab00d9bcd00d	1310	* Will be set 0 for active-high, 1 for active-low.
JojoS	0:ab00d9bcd00d	1311	* @return Current interrupt mode (0=active-high, 1=active-low)
JojoS	0:ab00d9bcd00d	1312	* @see MPU9150_RA_INT_PIN_CFG
JojoS	0:ab00d9bcd00d	1313	* @see MPU9150_INTCFG_INT_LEVEL_BIT
JojoS	0:ab00d9bcd00d	1314	*/
JojoS	0:ab00d9bcd00d	1315	bool MPU9150::getInterruptMode() {
JojoS	0:ab00d9bcd00d	1316	i2Cdev.readBit(devAddr, MPU9150_RA_INT_PIN_CFG, MPU9150_INTCFG_INT_LEVEL_BIT, buffer);
JojoS	0:ab00d9bcd00d	1317	return buffer[0];
JojoS	0:ab00d9bcd00d	1318	}
JojoS	0:ab00d9bcd00d	1319	/** Set interrupt logic level mode.
JojoS	0:ab00d9bcd00d	1320	* @param mode New interrupt mode (0=active-high, 1=active-low)
JojoS	0:ab00d9bcd00d	1321	* @see getInterruptMode()
JojoS	0:ab00d9bcd00d	1322	* @see MPU9150_RA_INT_PIN_CFG
JojoS	0:ab00d9bcd00d	1323	* @see MPU9150_INTCFG_INT_LEVEL_BIT
JojoS	0:ab00d9bcd00d	1324	*/
JojoS	0:ab00d9bcd00d	1325	void MPU9150::setInterruptMode(bool mode) {
JojoS	0:ab00d9bcd00d	1326	i2Cdev.writeBit(devAddr, MPU9150_RA_INT_PIN_CFG, MPU9150_INTCFG_INT_LEVEL_BIT, mode);
JojoS	0:ab00d9bcd00d	1327	}
JojoS	0:ab00d9bcd00d	1328	/** Get interrupt drive mode.
JojoS	0:ab00d9bcd00d	1329	* Will be set 0 for push-pull, 1 for open-drain.
JojoS	0:ab00d9bcd00d	1330	* @return Current interrupt drive mode (0=push-pull, 1=open-drain)
JojoS	0:ab00d9bcd00d	1331	* @see MPU9150_RA_INT_PIN_CFG
JojoS	0:ab00d9bcd00d	1332	* @see MPU9150_INTCFG_INT_OPEN_BIT
JojoS	0:ab00d9bcd00d	1333	*/
JojoS	0:ab00d9bcd00d	1334	bool MPU9150::getInterruptDrive() {
JojoS	0:ab00d9bcd00d	1335	i2Cdev.readBit(devAddr, MPU9150_RA_INT_PIN_CFG, MPU9150_INTCFG_INT_OPEN_BIT, buffer);
JojoS	0:ab00d9bcd00d	1336	return buffer[0];
JojoS	0:ab00d9bcd00d	1337	}
JojoS	0:ab00d9bcd00d	1338	/** Set interrupt drive mode.
JojoS	0:ab00d9bcd00d	1339	* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
JojoS	0:ab00d9bcd00d	1340	* @see getInterruptDrive()
JojoS	0:ab00d9bcd00d	1341	* @see MPU9150_RA_INT_PIN_CFG
JojoS	0:ab00d9bcd00d	1342	* @see MPU9150_INTCFG_INT_OPEN_BIT
JojoS	0:ab00d9bcd00d	1343	*/
JojoS	0:ab00d9bcd00d	1344	void MPU9150::setInterruptDrive(bool drive) {
JojoS	0:ab00d9bcd00d	1345	i2Cdev.writeBit(devAddr, MPU9150_RA_INT_PIN_CFG, MPU9150_INTCFG_INT_OPEN_BIT, drive);
JojoS	0:ab00d9bcd00d	1346	}
JojoS	0:ab00d9bcd00d	1347	/** Get interrupt latch mode.
JojoS	0:ab00d9bcd00d	1348	* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
JojoS	0:ab00d9bcd00d	1349	* @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
JojoS	0:ab00d9bcd00d	1350	* @see MPU9150_RA_INT_PIN_CFG
JojoS	0:ab00d9bcd00d	1351	* @see MPU9150_INTCFG_LATCH_INT_EN_BIT
JojoS	0:ab00d9bcd00d	1352	*/
JojoS	0:ab00d9bcd00d	1353	bool MPU9150::getInterruptLatch() {
JojoS	0:ab00d9bcd00d	1354	i2Cdev.readBit(devAddr, MPU9150_RA_INT_PIN_CFG, MPU9150_INTCFG_LATCH_INT_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	1355	return buffer[0];
JojoS	0:ab00d9bcd00d	1356	}
JojoS	0:ab00d9bcd00d	1357	/** Set interrupt latch mode.
JojoS	0:ab00d9bcd00d	1358	* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
JojoS	0:ab00d9bcd00d	1359	* @see getInterruptLatch()
JojoS	0:ab00d9bcd00d	1360	* @see MPU9150_RA_INT_PIN_CFG
JojoS	0:ab00d9bcd00d	1361	* @see MPU9150_INTCFG_LATCH_INT_EN_BIT
JojoS	0:ab00d9bcd00d	1362	*/
JojoS	0:ab00d9bcd00d	1363	void MPU9150::setInterruptLatch(bool latch) {
JojoS	0:ab00d9bcd00d	1364	i2Cdev.writeBit(devAddr, MPU9150_RA_INT_PIN_CFG, MPU9150_INTCFG_LATCH_INT_EN_BIT, latch);
JojoS	0:ab00d9bcd00d	1365	}
JojoS	0:ab00d9bcd00d	1366	/** Get interrupt latch clear mode.
JojoS	0:ab00d9bcd00d	1367	* Will be set 0 for status-read-only, 1 for any-register-read.
JojoS	0:ab00d9bcd00d	1368	* @return Current latch clear mode (0=status-read-only, 1=any-register-read)
JojoS	0:ab00d9bcd00d	1369	* @see MPU9150_RA_INT_PIN_CFG
JojoS	0:ab00d9bcd00d	1370	* @see MPU9150_INTCFG_INT_RD_CLEAR_BIT
JojoS	0:ab00d9bcd00d	1371	*/
JojoS	0:ab00d9bcd00d	1372	bool MPU9150::getInterruptLatchClear() {
JojoS	0:ab00d9bcd00d	1373	i2Cdev.readBit(devAddr, MPU9150_RA_INT_PIN_CFG, MPU9150_INTCFG_INT_RD_CLEAR_BIT, buffer);
JojoS	0:ab00d9bcd00d	1374	return buffer[0];
JojoS	0:ab00d9bcd00d	1375	}
JojoS	0:ab00d9bcd00d	1376	/** Set interrupt latch clear mode.
JojoS	0:ab00d9bcd00d	1377	* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
JojoS	0:ab00d9bcd00d	1378	* @see getInterruptLatchClear()
JojoS	0:ab00d9bcd00d	1379	* @see MPU9150_RA_INT_PIN_CFG
JojoS	0:ab00d9bcd00d	1380	* @see MPU9150_INTCFG_INT_RD_CLEAR_BIT
JojoS	0:ab00d9bcd00d	1381	*/
JojoS	0:ab00d9bcd00d	1382	void MPU9150::setInterruptLatchClear(bool clear) {
JojoS	0:ab00d9bcd00d	1383	i2Cdev.writeBit(devAddr, MPU9150_RA_INT_PIN_CFG, MPU9150_INTCFG_INT_RD_CLEAR_BIT, clear);
JojoS	0:ab00d9bcd00d	1384	}
JojoS	0:ab00d9bcd00d	1385	/** Get FSYNC interrupt logic level mode.
JojoS	0:ab00d9bcd00d	1386	* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
JojoS	0:ab00d9bcd00d	1387	* @see getFSyncInterruptMode()
JojoS	0:ab00d9bcd00d	1388	* @see MPU9150_RA_INT_PIN_CFG
JojoS	0:ab00d9bcd00d	1389	* @see MPU9150_INTCFG_FSYNC_INT_LEVEL_BIT
JojoS	0:ab00d9bcd00d	1390	*/
JojoS	0:ab00d9bcd00d	1391	bool MPU9150::getFSyncInterruptLevel() {
JojoS	0:ab00d9bcd00d	1392	i2Cdev.readBit(devAddr, MPU9150_RA_INT_PIN_CFG, MPU9150_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
JojoS	0:ab00d9bcd00d	1393	return buffer[0];
JojoS	0:ab00d9bcd00d	1394	}
JojoS	0:ab00d9bcd00d	1395	/** Set FSYNC interrupt logic level mode.
JojoS	0:ab00d9bcd00d	1396	* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
JojoS	0:ab00d9bcd00d	1397	* @see getFSyncInterruptMode()
JojoS	0:ab00d9bcd00d	1398	* @see MPU9150_RA_INT_PIN_CFG
JojoS	0:ab00d9bcd00d	1399	* @see MPU9150_INTCFG_FSYNC_INT_LEVEL_BIT
JojoS	0:ab00d9bcd00d	1400	*/
JojoS	0:ab00d9bcd00d	1401	void MPU9150::setFSyncInterruptLevel(bool level) {
JojoS	0:ab00d9bcd00d	1402	i2Cdev.writeBit(devAddr, MPU9150_RA_INT_PIN_CFG, MPU9150_INTCFG_FSYNC_INT_LEVEL_BIT, level);
JojoS	0:ab00d9bcd00d	1403	}
JojoS	0:ab00d9bcd00d	1404	/** Get FSYNC pin interrupt enabled setting.
JojoS	0:ab00d9bcd00d	1405	* Will be set 0 for disabled, 1 for enabled.
JojoS	0:ab00d9bcd00d	1406	* @return Current interrupt enabled setting
JojoS	0:ab00d9bcd00d	1407	* @see MPU9150_RA_INT_PIN_CFG
JojoS	0:ab00d9bcd00d	1408	* @see MPU9150_INTCFG_FSYNC_INT_EN_BIT
JojoS	0:ab00d9bcd00d	1409	*/
JojoS	0:ab00d9bcd00d	1410	bool MPU9150::getFSyncInterruptEnabled() {
JojoS	0:ab00d9bcd00d	1411	i2Cdev.readBit(devAddr, MPU9150_RA_INT_PIN_CFG, MPU9150_INTCFG_FSYNC_INT_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	1412	return buffer[0];
JojoS	0:ab00d9bcd00d	1413	}
JojoS	0:ab00d9bcd00d	1414	/** Set FSYNC pin interrupt enabled setting.
JojoS	0:ab00d9bcd00d	1415	* @param enabled New FSYNC pin interrupt enabled setting
JojoS	0:ab00d9bcd00d	1416	* @see getFSyncInterruptEnabled()
JojoS	0:ab00d9bcd00d	1417	* @see MPU9150_RA_INT_PIN_CFG
JojoS	0:ab00d9bcd00d	1418	* @see MPU9150_INTCFG_FSYNC_INT_EN_BIT
JojoS	0:ab00d9bcd00d	1419	*/
JojoS	0:ab00d9bcd00d	1420	void MPU9150::setFSyncInterruptEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	1421	i2Cdev.writeBit(devAddr, MPU9150_RA_INT_PIN_CFG, MPU9150_INTCFG_FSYNC_INT_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	1422	}
JojoS	0:ab00d9bcd00d	1423	/** Get I2C bypass enabled status.
JojoS	0:ab00d9bcd00d	1424	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
JojoS	0:ab00d9bcd00d	1425	* 0, the host application processor will be able to directly access the
JojoS	0:ab00d9bcd00d	1426	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
JojoS	0:ab00d9bcd00d	1427	* application processor will not be able to directly access the auxiliary I2C
JojoS	0:ab00d9bcd00d	1428	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
JojoS	0:ab00d9bcd00d	1429	* bit[5]).
JojoS	0:ab00d9bcd00d	1430	* @return Current I2C bypass enabled status
JojoS	0:ab00d9bcd00d	1431	* @see MPU9150_RA_INT_PIN_CFG
JojoS	0:ab00d9bcd00d	1432	* @see MPU9150_INTCFG_I2C_BYPASS_EN_BIT
JojoS	0:ab00d9bcd00d	1433	*/
JojoS	0:ab00d9bcd00d	1434	bool MPU9150::getI2CBypassEnabled() {
JojoS	0:ab00d9bcd00d	1435	i2Cdev.readBit(devAddr, MPU9150_RA_INT_PIN_CFG, MPU9150_INTCFG_I2C_BYPASS_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	1436	return buffer[0];
JojoS	0:ab00d9bcd00d	1437	}
JojoS	0:ab00d9bcd00d	1438	/** Set I2C bypass enabled status.
JojoS	0:ab00d9bcd00d	1439	* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
JojoS	0:ab00d9bcd00d	1440	* 0, the host application processor will be able to directly access the
JojoS	0:ab00d9bcd00d	1441	* auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
JojoS	0:ab00d9bcd00d	1442	* application processor will not be able to directly access the auxiliary I2C
JojoS	0:ab00d9bcd00d	1443	* bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
JojoS	0:ab00d9bcd00d	1444	* bit[5]).
JojoS	0:ab00d9bcd00d	1445	* @param enabled New I2C bypass enabled status
JojoS	0:ab00d9bcd00d	1446	* @see MPU9150_RA_INT_PIN_CFG
JojoS	0:ab00d9bcd00d	1447	* @see MPU9150_INTCFG_I2C_BYPASS_EN_BIT
JojoS	0:ab00d9bcd00d	1448	*/
JojoS	0:ab00d9bcd00d	1449	void MPU9150::setI2CBypassEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	1450	i2Cdev.writeBit(devAddr, MPU9150_RA_INT_PIN_CFG, MPU9150_INTCFG_I2C_BYPASS_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	1451	}
JojoS	0:ab00d9bcd00d	1452	/** Get reference clock output enabled status.
JojoS	0:ab00d9bcd00d	1453	* When this bit is equal to 1, a reference clock output is provided at the
JojoS	0:ab00d9bcd00d	1454	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
JojoS	0:ab00d9bcd00d	1455	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
JojoS	0:ab00d9bcd00d	1456	* Specification document.
JojoS	0:ab00d9bcd00d	1457	* @return Current reference clock output enabled status
JojoS	0:ab00d9bcd00d	1458	* @see MPU9150_RA_INT_PIN_CFG
JojoS	0:ab00d9bcd00d	1459	* @see MPU9150_INTCFG_CLKOUT_EN_BIT
JojoS	0:ab00d9bcd00d	1460	*/
JojoS	0:ab00d9bcd00d	1461	bool MPU9150::getClockOutputEnabled() {
JojoS	0:ab00d9bcd00d	1462	i2Cdev.readBit(devAddr, MPU9150_RA_INT_PIN_CFG, MPU9150_INTCFG_CLKOUT_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	1463	return buffer[0];
JojoS	0:ab00d9bcd00d	1464	}
JojoS	0:ab00d9bcd00d	1465	/** Set reference clock output enabled status.
JojoS	0:ab00d9bcd00d	1466	* When this bit is equal to 1, a reference clock output is provided at the
JojoS	0:ab00d9bcd00d	1467	* CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For
JojoS	0:ab00d9bcd00d	1468	* further information regarding CLKOUT, please refer to the MPU-60X0 Product
JojoS	0:ab00d9bcd00d	1469	* Specification document.
JojoS	0:ab00d9bcd00d	1470	* @param enabled New reference clock output enabled status
JojoS	0:ab00d9bcd00d	1471	* @see MPU9150_RA_INT_PIN_CFG
JojoS	0:ab00d9bcd00d	1472	* @see MPU9150_INTCFG_CLKOUT_EN_BIT
JojoS	0:ab00d9bcd00d	1473	*/
JojoS	0:ab00d9bcd00d	1474	void MPU9150::setClockOutputEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	1475	i2Cdev.writeBit(devAddr, MPU9150_RA_INT_PIN_CFG, MPU9150_INTCFG_CLKOUT_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	1476	}
JojoS	0:ab00d9bcd00d	1477
JojoS	0:ab00d9bcd00d	1478	// INT_ENABLE register
JojoS	0:ab00d9bcd00d	1479
JojoS	0:ab00d9bcd00d	1480	/** Get full interrupt enabled status.
JojoS	0:ab00d9bcd00d	1481	* Full register byte for all interrupts, for quick reading. Each bit will be
JojoS	0:ab00d9bcd00d	1482	* set 0 for disabled, 1 for enabled.
JojoS	0:ab00d9bcd00d	1483	* @return Current interrupt enabled status
JojoS	0:ab00d9bcd00d	1484	* @see MPU9150_RA_INT_ENABLE
JojoS	0:ab00d9bcd00d	1485	* @see MPU9150_INTERRUPT_FF_BIT
JojoS	0:ab00d9bcd00d	1486	**/
JojoS	0:ab00d9bcd00d	1487	uint8_t MPU9150::getIntEnabled() {
JojoS	0:ab00d9bcd00d	1488	i2Cdev.readByte(devAddr, MPU9150_RA_INT_ENABLE, buffer);
JojoS	0:ab00d9bcd00d	1489	return buffer[0];
JojoS	0:ab00d9bcd00d	1490	}
JojoS	0:ab00d9bcd00d	1491	/** Set full interrupt enabled status.
JojoS	0:ab00d9bcd00d	1492	* Full register byte for all interrupts, for quick reading. Each bit should be
JojoS	0:ab00d9bcd00d	1493	* set 0 for disabled, 1 for enabled.
JojoS	0:ab00d9bcd00d	1494	* @param enabled New interrupt enabled status
JojoS	0:ab00d9bcd00d	1495	* @see getIntFreefallEnabled()
JojoS	0:ab00d9bcd00d	1496	* @see MPU9150_RA_INT_ENABLE
JojoS	0:ab00d9bcd00d	1497	* @see MPU9150_INTERRUPT_FF_BIT
JojoS	0:ab00d9bcd00d	1498	**/
JojoS	0:ab00d9bcd00d	1499	void MPU9150::setIntEnabled(uint8_t enabled) {
JojoS	0:ab00d9bcd00d	1500	i2Cdev.writeByte(devAddr, MPU9150_RA_INT_ENABLE, enabled);
JojoS	0:ab00d9bcd00d	1501	}
JojoS	0:ab00d9bcd00d	1502	/** Get Free Fall interrupt enabled status.
JojoS	0:ab00d9bcd00d	1503	* Will be set 0 for disabled, 1 for enabled.
JojoS	0:ab00d9bcd00d	1504	* @return Current interrupt enabled status
JojoS	0:ab00d9bcd00d	1505	* @see MPU9150_RA_INT_ENABLE
JojoS	0:ab00d9bcd00d	1506	* @see MPU9150_INTERRUPT_FF_BIT
JojoS	0:ab00d9bcd00d	1507	**/
JojoS	0:ab00d9bcd00d	1508	bool MPU9150::getIntFreefallEnabled() {
JojoS	0:ab00d9bcd00d	1509	i2Cdev.readBit(devAddr, MPU9150_RA_INT_ENABLE, MPU9150_INTERRUPT_FF_BIT, buffer);
JojoS	0:ab00d9bcd00d	1510	return buffer[0];
JojoS	0:ab00d9bcd00d	1511	}
JojoS	0:ab00d9bcd00d	1512	/** Set Free Fall interrupt enabled status.
JojoS	0:ab00d9bcd00d	1513	* @param enabled New interrupt enabled status
JojoS	0:ab00d9bcd00d	1514	* @see getIntFreefallEnabled()
JojoS	0:ab00d9bcd00d	1515	* @see MPU9150_RA_INT_ENABLE
JojoS	0:ab00d9bcd00d	1516	* @see MPU9150_INTERRUPT_FF_BIT
JojoS	0:ab00d9bcd00d	1517	**/
JojoS	0:ab00d9bcd00d	1518	void MPU9150::setIntFreefallEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	1519	i2Cdev.writeBit(devAddr, MPU9150_RA_INT_ENABLE, MPU9150_INTERRUPT_FF_BIT, enabled);
JojoS	0:ab00d9bcd00d	1520	}
JojoS	0:ab00d9bcd00d	1521	/** Get Motion Detection interrupt enabled status.
JojoS	0:ab00d9bcd00d	1522	* Will be set 0 for disabled, 1 for enabled.
JojoS	0:ab00d9bcd00d	1523	* @return Current interrupt enabled status
JojoS	0:ab00d9bcd00d	1524	* @see MPU9150_RA_INT_ENABLE
JojoS	0:ab00d9bcd00d	1525	* @see MPU9150_INTERRUPT_MOT_BIT
JojoS	0:ab00d9bcd00d	1526	**/
JojoS	0:ab00d9bcd00d	1527	bool MPU9150::getIntMotionEnabled() {
JojoS	0:ab00d9bcd00d	1528	i2Cdev.readBit(devAddr, MPU9150_RA_INT_ENABLE, MPU9150_INTERRUPT_MOT_BIT, buffer);
JojoS	0:ab00d9bcd00d	1529	return buffer[0];
JojoS	0:ab00d9bcd00d	1530	}
JojoS	0:ab00d9bcd00d	1531	/** Set Motion Detection interrupt enabled status.
JojoS	0:ab00d9bcd00d	1532	* @param enabled New interrupt enabled status
JojoS	0:ab00d9bcd00d	1533	* @see getIntMotionEnabled()
JojoS	0:ab00d9bcd00d	1534	* @see MPU9150_RA_INT_ENABLE
JojoS	0:ab00d9bcd00d	1535	* @see MPU9150_INTERRUPT_MOT_BIT
JojoS	0:ab00d9bcd00d	1536	**/
JojoS	0:ab00d9bcd00d	1537	void MPU9150::setIntMotionEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	1538	i2Cdev.writeBit(devAddr, MPU9150_RA_INT_ENABLE, MPU9150_INTERRUPT_MOT_BIT, enabled);
JojoS	0:ab00d9bcd00d	1539	}
JojoS	0:ab00d9bcd00d	1540	/** Get Zero Motion Detection interrupt enabled status.
JojoS	0:ab00d9bcd00d	1541	* Will be set 0 for disabled, 1 for enabled.
JojoS	0:ab00d9bcd00d	1542	* @return Current interrupt enabled status
JojoS	0:ab00d9bcd00d	1543	* @see MPU9150_RA_INT_ENABLE
JojoS	0:ab00d9bcd00d	1544	* @see MPU9150_INTERRUPT_ZMOT_BIT
JojoS	0:ab00d9bcd00d	1545	**/
JojoS	0:ab00d9bcd00d	1546	bool MPU9150::getIntZeroMotionEnabled() {
JojoS	0:ab00d9bcd00d	1547	i2Cdev.readBit(devAddr, MPU9150_RA_INT_ENABLE, MPU9150_INTERRUPT_ZMOT_BIT, buffer);
JojoS	0:ab00d9bcd00d	1548	return buffer[0];
JojoS	0:ab00d9bcd00d	1549	}
JojoS	0:ab00d9bcd00d	1550	/** Set Zero Motion Detection interrupt enabled status.
JojoS	0:ab00d9bcd00d	1551	* @param enabled New interrupt enabled status
JojoS	0:ab00d9bcd00d	1552	* @see getIntZeroMotionEnabled()
JojoS	0:ab00d9bcd00d	1553	* @see MPU9150_RA_INT_ENABLE
JojoS	0:ab00d9bcd00d	1554	* @see MPU9150_INTERRUPT_ZMOT_BIT
JojoS	0:ab00d9bcd00d	1555	**/
JojoS	0:ab00d9bcd00d	1556	void MPU9150::setIntZeroMotionEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	1557	i2Cdev.writeBit(devAddr, MPU9150_RA_INT_ENABLE, MPU9150_INTERRUPT_ZMOT_BIT, enabled);
JojoS	0:ab00d9bcd00d	1558	}
JojoS	0:ab00d9bcd00d	1559	/** Get FIFO Buffer Overflow interrupt enabled status.
JojoS	0:ab00d9bcd00d	1560	* Will be set 0 for disabled, 1 for enabled.
JojoS	0:ab00d9bcd00d	1561	* @return Current interrupt enabled status
JojoS	0:ab00d9bcd00d	1562	* @see MPU9150_RA_INT_ENABLE
JojoS	0:ab00d9bcd00d	1563	* @see MPU9150_INTERRUPT_FIFO_OFLOW_BIT
JojoS	0:ab00d9bcd00d	1564	**/
JojoS	0:ab00d9bcd00d	1565	bool MPU9150::getIntFIFOBufferOverflowEnabled() {
JojoS	0:ab00d9bcd00d	1566	i2Cdev.readBit(devAddr, MPU9150_RA_INT_ENABLE, MPU9150_INTERRUPT_FIFO_OFLOW_BIT, buffer);
JojoS	0:ab00d9bcd00d	1567	return buffer[0];
JojoS	0:ab00d9bcd00d	1568	}
JojoS	0:ab00d9bcd00d	1569	/** Set FIFO Buffer Overflow interrupt enabled status.
JojoS	0:ab00d9bcd00d	1570	* @param enabled New interrupt enabled status
JojoS	0:ab00d9bcd00d	1571	* @see getIntFIFOBufferOverflowEnabled()
JojoS	0:ab00d9bcd00d	1572	* @see MPU9150_RA_INT_ENABLE
JojoS	0:ab00d9bcd00d	1573	* @see MPU9150_INTERRUPT_FIFO_OFLOW_BIT
JojoS	0:ab00d9bcd00d	1574	**/
JojoS	0:ab00d9bcd00d	1575	void MPU9150::setIntFIFOBufferOverflowEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	1576	i2Cdev.writeBit(devAddr, MPU9150_RA_INT_ENABLE, MPU9150_INTERRUPT_FIFO_OFLOW_BIT, enabled);
JojoS	0:ab00d9bcd00d	1577	}
JojoS	0:ab00d9bcd00d	1578	/** Get I2C Master interrupt enabled status.
JojoS	0:ab00d9bcd00d	1579	* This enables any of the I2C Master interrupt sources to generate an
JojoS	0:ab00d9bcd00d	1580	* interrupt. Will be set 0 for disabled, 1 for enabled.
JojoS	0:ab00d9bcd00d	1581	* @return Current interrupt enabled status
JojoS	0:ab00d9bcd00d	1582	* @see MPU9150_RA_INT_ENABLE
JojoS	0:ab00d9bcd00d	1583	* @see MPU9150_INTERRUPT_I2C_MST_INT_BIT
JojoS	0:ab00d9bcd00d	1584	**/
JojoS	0:ab00d9bcd00d	1585	bool MPU9150::getIntI2CMasterEnabled() {
JojoS	0:ab00d9bcd00d	1586	i2Cdev.readBit(devAddr, MPU9150_RA_INT_ENABLE, MPU9150_INTERRUPT_I2C_MST_INT_BIT, buffer);
JojoS	0:ab00d9bcd00d	1587	return buffer[0];
JojoS	0:ab00d9bcd00d	1588	}
JojoS	0:ab00d9bcd00d	1589	/** Set I2C Master interrupt enabled status.
JojoS	0:ab00d9bcd00d	1590	* @param enabled New interrupt enabled status
JojoS	0:ab00d9bcd00d	1591	* @see getIntI2CMasterEnabled()
JojoS	0:ab00d9bcd00d	1592	* @see MPU9150_RA_INT_ENABLE
JojoS	0:ab00d9bcd00d	1593	* @see MPU9150_INTERRUPT_I2C_MST_INT_BIT
JojoS	0:ab00d9bcd00d	1594	**/
JojoS	0:ab00d9bcd00d	1595	void MPU9150::setIntI2CMasterEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	1596	i2Cdev.writeBit(devAddr, MPU9150_RA_INT_ENABLE, MPU9150_INTERRUPT_I2C_MST_INT_BIT, enabled);
JojoS	0:ab00d9bcd00d	1597	}
JojoS	0:ab00d9bcd00d	1598	/** Get Data Ready interrupt enabled setting.
JojoS	0:ab00d9bcd00d	1599	* This event occurs each time a write operation to all of the sensor registers
JojoS	0:ab00d9bcd00d	1600	* has been completed. Will be set 0 for disabled, 1 for enabled.
JojoS	0:ab00d9bcd00d	1601	* @return Current interrupt enabled status
JojoS	0:ab00d9bcd00d	1602	* @see MPU9150_RA_INT_ENABLE
JojoS	0:ab00d9bcd00d	1603	* @see MPU9150_INTERRUPT_DATA_RDY_BIT
JojoS	0:ab00d9bcd00d	1604	*/
JojoS	0:ab00d9bcd00d	1605	bool MPU9150::getIntDataReadyEnabled() {
JojoS	0:ab00d9bcd00d	1606	i2Cdev.readBit(devAddr, MPU9150_RA_INT_ENABLE, MPU9150_INTERRUPT_DATA_RDY_BIT, buffer);
JojoS	0:ab00d9bcd00d	1607	return buffer[0];
JojoS	0:ab00d9bcd00d	1608	}
JojoS	0:ab00d9bcd00d	1609	/** Set Data Ready interrupt enabled status.
JojoS	0:ab00d9bcd00d	1610	* @param enabled New interrupt enabled status
JojoS	0:ab00d9bcd00d	1611	* @see getIntDataReadyEnabled()
JojoS	0:ab00d9bcd00d	1612	* @see MPU9150_RA_INT_CFG
JojoS	0:ab00d9bcd00d	1613	* @see MPU9150_INTERRUPT_DATA_RDY_BIT
JojoS	0:ab00d9bcd00d	1614	*/
JojoS	0:ab00d9bcd00d	1615	void MPU9150::setIntDataReadyEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	1616	i2Cdev.writeBit(devAddr, MPU9150_RA_INT_ENABLE, MPU9150_INTERRUPT_DATA_RDY_BIT, enabled);
JojoS	0:ab00d9bcd00d	1617	}
JojoS	0:ab00d9bcd00d	1618
JojoS	0:ab00d9bcd00d	1619	// INT_STATUS register
JojoS	0:ab00d9bcd00d	1620
JojoS	0:ab00d9bcd00d	1621	/** Get full set of interrupt status bits.
JojoS	0:ab00d9bcd00d	1622	* These bits clear to 0 after the register has been read. Very useful
JojoS	0:ab00d9bcd00d	1623	* for getting multiple INT statuses, since each single bit read clears
JojoS	0:ab00d9bcd00d	1624	* all of them because it has to read the whole byte.
JojoS	0:ab00d9bcd00d	1625	* @return Current interrupt status
JojoS	0:ab00d9bcd00d	1626	* @see MPU9150_RA_INT_STATUS
JojoS	0:ab00d9bcd00d	1627	*/
JojoS	0:ab00d9bcd00d	1628	uint8_t MPU9150::getIntStatus() {
JojoS	0:ab00d9bcd00d	1629	i2Cdev.readByte(devAddr, MPU9150_RA_INT_STATUS, buffer);
JojoS	0:ab00d9bcd00d	1630	return buffer[0];
JojoS	0:ab00d9bcd00d	1631	}
JojoS	0:ab00d9bcd00d	1632	/** Get Free Fall interrupt status.
JojoS	0:ab00d9bcd00d	1633	* This bit automatically sets to 1 when a Free Fall interrupt has been
JojoS	0:ab00d9bcd00d	1634	* generated. The bit clears to 0 after the register has been read.
JojoS	0:ab00d9bcd00d	1635	* @return Current interrupt status
JojoS	0:ab00d9bcd00d	1636	* @see MPU9150_RA_INT_STATUS
JojoS	0:ab00d9bcd00d	1637	* @see MPU9150_INTERRUPT_FF_BIT
JojoS	0:ab00d9bcd00d	1638	*/
JojoS	0:ab00d9bcd00d	1639	bool MPU9150::getIntFreefallStatus() {
JojoS	0:ab00d9bcd00d	1640	i2Cdev.readBit(devAddr, MPU9150_RA_INT_STATUS, MPU9150_INTERRUPT_FF_BIT, buffer);
JojoS	0:ab00d9bcd00d	1641	return buffer[0];
JojoS	0:ab00d9bcd00d	1642	}
JojoS	0:ab00d9bcd00d	1643	/** Get Motion Detection interrupt status.
JojoS	0:ab00d9bcd00d	1644	* This bit automatically sets to 1 when a Motion Detection interrupt has been
JojoS	0:ab00d9bcd00d	1645	* generated. The bit clears to 0 after the register has been read.
JojoS	0:ab00d9bcd00d	1646	* @return Current interrupt status
JojoS	0:ab00d9bcd00d	1647	* @see MPU9150_RA_INT_STATUS
JojoS	0:ab00d9bcd00d	1648	* @see MPU9150_INTERRUPT_MOT_BIT
JojoS	0:ab00d9bcd00d	1649	*/
JojoS	0:ab00d9bcd00d	1650	bool MPU9150::getIntMotionStatus() {
JojoS	0:ab00d9bcd00d	1651	i2Cdev.readBit(devAddr, MPU9150_RA_INT_STATUS, MPU9150_INTERRUPT_MOT_BIT, buffer);
JojoS	0:ab00d9bcd00d	1652	return buffer[0];
JojoS	0:ab00d9bcd00d	1653	}
JojoS	0:ab00d9bcd00d	1654	/** Get Zero Motion Detection interrupt status.
JojoS	0:ab00d9bcd00d	1655	* This bit automatically sets to 1 when a Zero Motion Detection interrupt has
JojoS	0:ab00d9bcd00d	1656	* been generated. The bit clears to 0 after the register has been read.
JojoS	0:ab00d9bcd00d	1657	* @return Current interrupt status
JojoS	0:ab00d9bcd00d	1658	* @see MPU9150_RA_INT_STATUS
JojoS	0:ab00d9bcd00d	1659	* @see MPU9150_INTERRUPT_ZMOT_BIT
JojoS	0:ab00d9bcd00d	1660	*/
JojoS	0:ab00d9bcd00d	1661	bool MPU9150::getIntZeroMotionStatus() {
JojoS	0:ab00d9bcd00d	1662	i2Cdev.readBit(devAddr, MPU9150_RA_INT_STATUS, MPU9150_INTERRUPT_ZMOT_BIT, buffer);
JojoS	0:ab00d9bcd00d	1663	return buffer[0];
JojoS	0:ab00d9bcd00d	1664	}
JojoS	0:ab00d9bcd00d	1665	/** Get FIFO Buffer Overflow interrupt status.
JojoS	0:ab00d9bcd00d	1666	* This bit automatically sets to 1 when a Free Fall interrupt has been
JojoS	0:ab00d9bcd00d	1667	* generated. The bit clears to 0 after the register has been read.
JojoS	0:ab00d9bcd00d	1668	* @return Current interrupt status
JojoS	0:ab00d9bcd00d	1669	* @see MPU9150_RA_INT_STATUS
JojoS	0:ab00d9bcd00d	1670	* @see MPU9150_INTERRUPT_FIFO_OFLOW_BIT
JojoS	0:ab00d9bcd00d	1671	*/
JojoS	0:ab00d9bcd00d	1672	bool MPU9150::getIntFIFOBufferOverflowStatus() {
JojoS	0:ab00d9bcd00d	1673	i2Cdev.readBit(devAddr, MPU9150_RA_INT_STATUS, MPU9150_INTERRUPT_FIFO_OFLOW_BIT, buffer);
JojoS	0:ab00d9bcd00d	1674	return buffer[0];
JojoS	0:ab00d9bcd00d	1675	}
JojoS	0:ab00d9bcd00d	1676	/** Get I2C Master interrupt status.
JojoS	0:ab00d9bcd00d	1677	* This bit automatically sets to 1 when an I2C Master interrupt has been
JojoS	0:ab00d9bcd00d	1678	* generated. For a list of I2C Master interrupts, please refer to Register 54.
JojoS	0:ab00d9bcd00d	1679	* The bit clears to 0 after the register has been read.
JojoS	0:ab00d9bcd00d	1680	* @return Current interrupt status
JojoS	0:ab00d9bcd00d	1681	* @see MPU9150_RA_INT_STATUS
JojoS	0:ab00d9bcd00d	1682	* @see MPU9150_INTERRUPT_I2C_MST_INT_BIT
JojoS	0:ab00d9bcd00d	1683	*/
JojoS	0:ab00d9bcd00d	1684	bool MPU9150::getIntI2CMasterStatus() {
JojoS	0:ab00d9bcd00d	1685	i2Cdev.readBit(devAddr, MPU9150_RA_INT_STATUS, MPU9150_INTERRUPT_I2C_MST_INT_BIT, buffer);
JojoS	0:ab00d9bcd00d	1686	return buffer[0];
JojoS	0:ab00d9bcd00d	1687	}
JojoS	0:ab00d9bcd00d	1688	/** Get Data Ready interrupt status.
JojoS	0:ab00d9bcd00d	1689	* This bit automatically sets to 1 when a Data Ready interrupt has been
JojoS	0:ab00d9bcd00d	1690	* generated. The bit clears to 0 after the register has been read.
JojoS	0:ab00d9bcd00d	1691	* @return Current interrupt status
JojoS	0:ab00d9bcd00d	1692	* @see MPU9150_RA_INT_STATUS
JojoS	0:ab00d9bcd00d	1693	* @see MPU9150_INTERRUPT_DATA_RDY_BIT
JojoS	0:ab00d9bcd00d	1694	*/
JojoS	0:ab00d9bcd00d	1695	bool MPU9150::getIntDataReadyStatus() {
JojoS	0:ab00d9bcd00d	1696	i2Cdev.readBit(devAddr, MPU9150_RA_INT_STATUS, MPU9150_INTERRUPT_DATA_RDY_BIT, buffer);
JojoS	0:ab00d9bcd00d	1697	return buffer[0];
JojoS	0:ab00d9bcd00d	1698	}
JojoS	0:ab00d9bcd00d	1699
JojoS	0:ab00d9bcd00d	1700	// ACCEL_OUT_ registers
JojoS	0:ab00d9bcd00d	1701
JojoS	0:ab00d9bcd00d	1702	/** Get raw 9-axis motion sensor readings (accel/gyro/compass).
JojoS	0:ab00d9bcd00d	1703	* FUNCTION NOT FULLY IMPLEMENTED YET.
JojoS	0:ab00d9bcd00d	1704	* @param ax 16-bit signed integer container for accelerometer X-axis value
JojoS	0:ab00d9bcd00d	1705	* @param ay 16-bit signed integer container for accelerometer Y-axis value
JojoS	0:ab00d9bcd00d	1706	* @param az 16-bit signed integer container for accelerometer Z-axis value
JojoS	0:ab00d9bcd00d	1707	* @param gx 16-bit signed integer container for gyroscope X-axis value
JojoS	0:ab00d9bcd00d	1708	* @param gy 16-bit signed integer container for gyroscope Y-axis value
JojoS	0:ab00d9bcd00d	1709	* @param gz 16-bit signed integer container for gyroscope Z-axis value
JojoS	0:ab00d9bcd00d	1710	* @param mx 16-bit signed integer container for magnetometer X-axis value
JojoS	0:ab00d9bcd00d	1711	* @param my 16-bit signed integer container for magnetometer Y-axis value
JojoS	0:ab00d9bcd00d	1712	* @param mz 16-bit signed integer container for magnetometer Z-axis value
JojoS	0:ab00d9bcd00d	1713	* @see getMotion6()
JojoS	0:ab00d9bcd00d	1714	* @see getAcceleration()
JojoS	0:ab00d9bcd00d	1715	* @see getRotation()
JojoS	0:ab00d9bcd00d	1716	* @see MPU9150_RA_ACCEL_XOUT_H
JojoS	0:ab00d9bcd00d	1717	*/
JojoS	0:ab00d9bcd00d	1718	void MPU9150::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) {
JojoS	0:ab00d9bcd00d	1719
JojoS	0:ab00d9bcd00d	1720	//get accel and gyro
JojoS	0:ab00d9bcd00d	1721	getMotion6(ax, ay, az, gx, gy, gz);
JojoS	0:ab00d9bcd00d	1722
JojoS	0:ab00d9bcd00d	1723	//read mag
JojoS	0:ab00d9bcd00d	1724	i2Cdev.writeByte(devAddr, MPU9150_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer
JojoS	0:ab00d9bcd00d	1725	wait_ms(10);
JojoS	0:ab00d9bcd00d	1726	i2Cdev.writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); //enable the magnetometer
JojoS	0:ab00d9bcd00d	1727	wait_ms(10);
JojoS	0:ab00d9bcd00d	1728	i2Cdev.readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer);
JojoS	0:ab00d9bcd00d	1729	*mx = (((int16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	1730	*my = (((int16_t)buffer[2]) << 8) \| buffer[3];
JojoS	0:ab00d9bcd00d	1731	*mz = (((int16_t)buffer[4]) << 8) \| buffer[5];
JojoS	0:ab00d9bcd00d	1732	}
JojoS	0:ab00d9bcd00d	1733	/** Get raw 6-axis motion sensor readings (accel/gyro).
JojoS	0:ab00d9bcd00d	1734	* Retrieves all currently available motion sensor values.
JojoS	0:ab00d9bcd00d	1735	* @param ax 16-bit signed integer container for accelerometer X-axis value
JojoS	0:ab00d9bcd00d	1736	* @param ay 16-bit signed integer container for accelerometer Y-axis value
JojoS	0:ab00d9bcd00d	1737	* @param az 16-bit signed integer container for accelerometer Z-axis value
JojoS	0:ab00d9bcd00d	1738	* @param gx 16-bit signed integer container for gyroscope X-axis value
JojoS	0:ab00d9bcd00d	1739	* @param gy 16-bit signed integer container for gyroscope Y-axis value
JojoS	0:ab00d9bcd00d	1740	* @param gz 16-bit signed integer container for gyroscope Z-axis value
JojoS	0:ab00d9bcd00d	1741	* @see getAcceleration()
JojoS	0:ab00d9bcd00d	1742	* @see getRotation()
JojoS	0:ab00d9bcd00d	1743	* @see MPU9150_RA_ACCEL_XOUT_H
JojoS	0:ab00d9bcd00d	1744	*/
JojoS	0:ab00d9bcd00d	1745	void MPU9150::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) {
JojoS	0:ab00d9bcd00d	1746	i2Cdev.readBytes(devAddr, MPU9150_RA_ACCEL_XOUT_H, 14, buffer);
JojoS	0:ab00d9bcd00d	1747	*ax = (((int16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	1748	*ay = (((int16_t)buffer[2]) << 8) \| buffer[3];
JojoS	0:ab00d9bcd00d	1749	*az = (((int16_t)buffer[4]) << 8) \| buffer[5];
JojoS	0:ab00d9bcd00d	1750	*gx = (((int16_t)buffer[8]) << 8) \| buffer[9];
JojoS	0:ab00d9bcd00d	1751	*gy = (((int16_t)buffer[10]) << 8) \| buffer[11];
JojoS	0:ab00d9bcd00d	1752	*gz = (((int16_t)buffer[12]) << 8) \| buffer[13];
JojoS	0:ab00d9bcd00d	1753	}
JojoS	0:ab00d9bcd00d	1754	/** Get 3-axis accelerometer readings.
JojoS	0:ab00d9bcd00d	1755	* These registers store the most recent accelerometer measurements.
JojoS	0:ab00d9bcd00d	1756	* Accelerometer measurements are written to these registers at the Sample Rate
JojoS	0:ab00d9bcd00d	1757	* as defined in Register 25.
JojoS	0:ab00d9bcd00d	1758	*
JojoS	0:ab00d9bcd00d	1759	* The accelerometer measurement registers, along with the temperature
JojoS	0:ab00d9bcd00d	1760	* measurement registers, gyroscope measurement registers, and external sensor
JojoS	0:ab00d9bcd00d	1761	* data registers, are composed of two sets of registers: an internal register
JojoS	0:ab00d9bcd00d	1762	* set and a user-facing read register set.
JojoS	0:ab00d9bcd00d	1763	*
JojoS	0:ab00d9bcd00d	1764	* The data within the accelerometer sensors' internal register set is always
JojoS	0:ab00d9bcd00d	1765	* updated at the Sample Rate. Meanwhile, the user-facing read register set
JojoS	0:ab00d9bcd00d	1766	* duplicates the internal register set's data values whenever the serial
JojoS	0:ab00d9bcd00d	1767	* interface is idle. This guarantees that a burst read of sensor registers will
JojoS	0:ab00d9bcd00d	1768	* read measurements from the same sampling instant. Note that if burst reads
JojoS	0:ab00d9bcd00d	1769	* are not used, the user is responsible for ensuring a set of single byte reads
JojoS	0:ab00d9bcd00d	1770	* correspond to a single sampling instant by checking the Data Ready interrupt.
JojoS	0:ab00d9bcd00d	1771	*
JojoS	0:ab00d9bcd00d	1772	* Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
JojoS	0:ab00d9bcd00d	1773	* (Register 28). For each full scale setting, the accelerometers' sensitivity
JojoS	0:ab00d9bcd00d	1774	* per LSB in ACCEL_xOUT is shown in the table below:
JojoS	0:ab00d9bcd00d	1775	*
JojoS	0:ab00d9bcd00d	1776	* <pre>
JojoS	0:ab00d9bcd00d	1777	* AFS_SEL \| Full Scale Range \| LSB Sensitivity
JojoS	0:ab00d9bcd00d	1778	* --------+------------------+----------------
JojoS	0:ab00d9bcd00d	1779	* 0 \| +/- 2g \| 8192 LSB/mg
JojoS	0:ab00d9bcd00d	1780	* 1 \| +/- 4g \| 4096 LSB/mg
JojoS	0:ab00d9bcd00d	1781	* 2 \| +/- 8g \| 2048 LSB/mg
JojoS	0:ab00d9bcd00d	1782	* 3 \| +/- 16g \| 1024 LSB/mg
JojoS	0:ab00d9bcd00d	1783	* </pre>
JojoS	0:ab00d9bcd00d	1784	*
JojoS	0:ab00d9bcd00d	1785	* @param x 16-bit signed integer container for X-axis acceleration
JojoS	0:ab00d9bcd00d	1786	* @param y 16-bit signed integer container for Y-axis acceleration
JojoS	0:ab00d9bcd00d	1787	* @param z 16-bit signed integer container for Z-axis acceleration
JojoS	0:ab00d9bcd00d	1788	* @see MPU9150_RA_GYRO_XOUT_H
JojoS	0:ab00d9bcd00d	1789	*/
JojoS	0:ab00d9bcd00d	1790	void MPU9150::getAcceleration(int16_t* x, int16_t* y, int16_t* z) {
JojoS	0:ab00d9bcd00d	1791	i2Cdev.readBytes(devAddr, MPU9150_RA_ACCEL_XOUT_H, 6, buffer);
JojoS	0:ab00d9bcd00d	1792	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	1793	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
JojoS	0:ab00d9bcd00d	1794	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
JojoS	0:ab00d9bcd00d	1795	}
JojoS	0:ab00d9bcd00d	1796	/** Get X-axis accelerometer reading.
JojoS	0:ab00d9bcd00d	1797	* @return X-axis acceleration measurement in 16-bit 2's complement format
JojoS	0:ab00d9bcd00d	1798	* @see getMotion6()
JojoS	0:ab00d9bcd00d	1799	* @see MPU9150_RA_ACCEL_XOUT_H
JojoS	0:ab00d9bcd00d	1800	*/
JojoS	0:ab00d9bcd00d	1801	int16_t MPU9150::getAccelerationX() {
JojoS	0:ab00d9bcd00d	1802	i2Cdev.readBytes(devAddr, MPU9150_RA_ACCEL_XOUT_H, 2, buffer);
JojoS	0:ab00d9bcd00d	1803	return (((int16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	1804	}
JojoS	0:ab00d9bcd00d	1805	/** Get Y-axis accelerometer reading.
JojoS	0:ab00d9bcd00d	1806	* @return Y-axis acceleration measurement in 16-bit 2's complement format
JojoS	0:ab00d9bcd00d	1807	* @see getMotion6()
JojoS	0:ab00d9bcd00d	1808	* @see MPU9150_RA_ACCEL_YOUT_H
JojoS	0:ab00d9bcd00d	1809	*/
JojoS	0:ab00d9bcd00d	1810	int16_t MPU9150::getAccelerationY() {
JojoS	0:ab00d9bcd00d	1811	i2Cdev.readBytes(devAddr, MPU9150_RA_ACCEL_YOUT_H, 2, buffer);
JojoS	0:ab00d9bcd00d	1812	return (((int16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	1813	}
JojoS	0:ab00d9bcd00d	1814	/** Get Z-axis accelerometer reading.
JojoS	0:ab00d9bcd00d	1815	* @return Z-axis acceleration measurement in 16-bit 2's complement format
JojoS	0:ab00d9bcd00d	1816	* @see getMotion6()
JojoS	0:ab00d9bcd00d	1817	* @see MPU9150_RA_ACCEL_ZOUT_H
JojoS	0:ab00d9bcd00d	1818	*/
JojoS	0:ab00d9bcd00d	1819	int16_t MPU9150::getAccelerationZ() {
JojoS	0:ab00d9bcd00d	1820	i2Cdev.readBytes(devAddr, MPU9150_RA_ACCEL_ZOUT_H, 2, buffer);
JojoS	0:ab00d9bcd00d	1821	return (((int16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	1822	}
JojoS	0:ab00d9bcd00d	1823
JojoS	0:ab00d9bcd00d	1824	// TEMP_OUT_* registers
JojoS	0:ab00d9bcd00d	1825
JojoS	0:ab00d9bcd00d	1826	/** Get current internal temperature.
JojoS	0:ab00d9bcd00d	1827	* @return Temperature reading in 16-bit 2's complement format
JojoS	0:ab00d9bcd00d	1828	* @see MPU9150_RA_TEMP_OUT_H
JojoS	0:ab00d9bcd00d	1829	*/
JojoS	0:ab00d9bcd00d	1830	int16_t MPU9150::getTemperature() {
JojoS	0:ab00d9bcd00d	1831	i2Cdev.readBytes(devAddr, MPU9150_RA_TEMP_OUT_H, 2, buffer);
JojoS	0:ab00d9bcd00d	1832	return (((int16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	1833	}
JojoS	0:ab00d9bcd00d	1834
JojoS	0:ab00d9bcd00d	1835	// GYRO_OUT_ registers
JojoS	0:ab00d9bcd00d	1836
JojoS	0:ab00d9bcd00d	1837	/** Get 3-axis gyroscope readings.
JojoS	0:ab00d9bcd00d	1838	* These gyroscope measurement registers, along with the accelerometer
JojoS	0:ab00d9bcd00d	1839	* measurement registers, temperature measurement registers, and external sensor
JojoS	0:ab00d9bcd00d	1840	* data registers, are composed of two sets of registers: an internal register
JojoS	0:ab00d9bcd00d	1841	* set and a user-facing read register set.
JojoS	0:ab00d9bcd00d	1842	* The data within the gyroscope sensors' internal register set is always
JojoS	0:ab00d9bcd00d	1843	* updated at the Sample Rate. Meanwhile, the user-facing read register set
JojoS	0:ab00d9bcd00d	1844	* duplicates the internal register set's data values whenever the serial
JojoS	0:ab00d9bcd00d	1845	* interface is idle. This guarantees that a burst read of sensor registers will
JojoS	0:ab00d9bcd00d	1846	* read measurements from the same sampling instant. Note that if burst reads
JojoS	0:ab00d9bcd00d	1847	* are not used, the user is responsible for ensuring a set of single byte reads
JojoS	0:ab00d9bcd00d	1848	* correspond to a single sampling instant by checking the Data Ready interrupt.
JojoS	0:ab00d9bcd00d	1849	*
JojoS	0:ab00d9bcd00d	1850	* Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
JojoS	0:ab00d9bcd00d	1851	* (Register 27). For each full scale setting, the gyroscopes' sensitivity per
JojoS	0:ab00d9bcd00d	1852	* LSB in GYRO_xOUT is shown in the table below:
JojoS	0:ab00d9bcd00d	1853	*
JojoS	0:ab00d9bcd00d	1854	* <pre>
JojoS	0:ab00d9bcd00d	1855	* FS_SEL \| Full Scale Range \| LSB Sensitivity
JojoS	0:ab00d9bcd00d	1856	* -------+--------------------+----------------
JojoS	0:ab00d9bcd00d	1857	* 0 \| +/- 250 degrees/s \| 131 LSB/deg/s
JojoS	0:ab00d9bcd00d	1858	* 1 \| +/- 500 degrees/s \| 65.5 LSB/deg/s
JojoS	0:ab00d9bcd00d	1859	* 2 \| +/- 1000 degrees/s \| 32.8 LSB/deg/s
JojoS	0:ab00d9bcd00d	1860	* 3 \| +/- 2000 degrees/s \| 16.4 LSB/deg/s
JojoS	0:ab00d9bcd00d	1861	* </pre>
JojoS	0:ab00d9bcd00d	1862	*
JojoS	0:ab00d9bcd00d	1863	* @param x 16-bit signed integer container for X-axis rotation
JojoS	0:ab00d9bcd00d	1864	* @param y 16-bit signed integer container for Y-axis rotation
JojoS	0:ab00d9bcd00d	1865	* @param z 16-bit signed integer container for Z-axis rotation
JojoS	0:ab00d9bcd00d	1866	* @see getMotion6()
JojoS	0:ab00d9bcd00d	1867	* @see MPU9150_RA_GYRO_XOUT_H
JojoS	0:ab00d9bcd00d	1868	*/
JojoS	0:ab00d9bcd00d	1869	void MPU9150::getRotation(int16_t* x, int16_t* y, int16_t* z) {
JojoS	0:ab00d9bcd00d	1870	i2Cdev.readBytes(devAddr, MPU9150_RA_GYRO_XOUT_H, 6, buffer);
JojoS	0:ab00d9bcd00d	1871	*x = (((int16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	1872	*y = (((int16_t)buffer[2]) << 8) \| buffer[3];
JojoS	0:ab00d9bcd00d	1873	*z = (((int16_t)buffer[4]) << 8) \| buffer[5];
JojoS	0:ab00d9bcd00d	1874	}
JojoS	0:ab00d9bcd00d	1875	/** Get X-axis gyroscope reading.
JojoS	0:ab00d9bcd00d	1876	* @return X-axis rotation measurement in 16-bit 2's complement format
JojoS	0:ab00d9bcd00d	1877	* @see getMotion6()
JojoS	0:ab00d9bcd00d	1878	* @see MPU9150_RA_GYRO_XOUT_H
JojoS	0:ab00d9bcd00d	1879	*/
JojoS	0:ab00d9bcd00d	1880	int16_t MPU9150::getRotationX() {
JojoS	0:ab00d9bcd00d	1881	i2Cdev.readBytes(devAddr, MPU9150_RA_GYRO_XOUT_H, 2, buffer);
JojoS	0:ab00d9bcd00d	1882	return (((int16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	1883	}
JojoS	0:ab00d9bcd00d	1884	/** Get Y-axis gyroscope reading.
JojoS	0:ab00d9bcd00d	1885	* @return Y-axis rotation measurement in 16-bit 2's complement format
JojoS	0:ab00d9bcd00d	1886	* @see getMotion6()
JojoS	0:ab00d9bcd00d	1887	* @see MPU9150_RA_GYRO_YOUT_H
JojoS	0:ab00d9bcd00d	1888	*/
JojoS	0:ab00d9bcd00d	1889	int16_t MPU9150::getRotationY() {
JojoS	0:ab00d9bcd00d	1890	i2Cdev.readBytes(devAddr, MPU9150_RA_GYRO_YOUT_H, 2, buffer);
JojoS	0:ab00d9bcd00d	1891	return (((int16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	1892	}
JojoS	0:ab00d9bcd00d	1893	/** Get Z-axis gyroscope reading.
JojoS	0:ab00d9bcd00d	1894	* @return Z-axis rotation measurement in 16-bit 2's complement format
JojoS	0:ab00d9bcd00d	1895	* @see getMotion6()
JojoS	0:ab00d9bcd00d	1896	* @see MPU9150_RA_GYRO_ZOUT_H
JojoS	0:ab00d9bcd00d	1897	*/
JojoS	0:ab00d9bcd00d	1898	int16_t MPU9150::getRotationZ() {
JojoS	0:ab00d9bcd00d	1899	i2Cdev.readBytes(devAddr, MPU9150_RA_GYRO_ZOUT_H, 2, buffer);
JojoS	0:ab00d9bcd00d	1900	return (((int16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	1901	}
JojoS	0:ab00d9bcd00d	1902
JojoS	0:ab00d9bcd00d	1903	// EXT_SENS_DATA_* registers
JojoS	0:ab00d9bcd00d	1904
JojoS	0:ab00d9bcd00d	1905	/** Read single byte from external sensor data register.
JojoS	0:ab00d9bcd00d	1906	* These registers store data read from external sensors by the Slave 0, 1, 2,
JojoS	0:ab00d9bcd00d	1907	* and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in
JojoS	0:ab00d9bcd00d	1908	* I2C_SLV4_DI (Register 53).
JojoS	0:ab00d9bcd00d	1909	*
JojoS	0:ab00d9bcd00d	1910	* External sensor data is written to these registers at the Sample Rate as
JojoS	0:ab00d9bcd00d	1911	* defined in Register 25. This access rate can be reduced by using the Slave
JojoS	0:ab00d9bcd00d	1912	* Delay Enable registers (Register 103).
JojoS	0:ab00d9bcd00d	1913	*
JojoS	0:ab00d9bcd00d	1914	* External sensor data registers, along with the gyroscope measurement
JojoS	0:ab00d9bcd00d	1915	* registers, accelerometer measurement registers, and temperature measurement
JojoS	0:ab00d9bcd00d	1916	* registers, are composed of two sets of registers: an internal register set
JojoS	0:ab00d9bcd00d	1917	* and a user-facing read register set.
JojoS	0:ab00d9bcd00d	1918	*
JojoS	0:ab00d9bcd00d	1919	* The data within the external sensors' internal register set is always updated
JojoS	0:ab00d9bcd00d	1920	* at the Sample Rate (or the reduced access rate) whenever the serial interface
JojoS	0:ab00d9bcd00d	1921	* is idle. This guarantees that a burst read of sensor registers will read
JojoS	0:ab00d9bcd00d	1922	* measurements from the same sampling instant. Note that if burst reads are not
JojoS	0:ab00d9bcd00d	1923	* used, the user is responsible for ensuring a set of single byte reads
JojoS	0:ab00d9bcd00d	1924	* correspond to a single sampling instant by checking the Data Ready interrupt.
JojoS	0:ab00d9bcd00d	1925	*
JojoS	0:ab00d9bcd00d	1926	* Data is placed in these external sensor data registers according to
JojoS	0:ab00d9bcd00d	1927	* I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39,
JojoS	0:ab00d9bcd00d	1928	* 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from
JojoS	0:ab00d9bcd00d	1929	* an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as
JojoS	0:ab00d9bcd00d	1930	* defined in Register 25) or delayed rate (if specified in Register 52 and
JojoS	0:ab00d9bcd00d	1931	* 103). During each Sample cycle, slave reads are performed in order of Slave
JojoS	0:ab00d9bcd00d	1932	* number. If all slaves are enabled with more than zero bytes to be read, the
JojoS	0:ab00d9bcd00d	1933	* order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
JojoS	0:ab00d9bcd00d	1934	*
JojoS	0:ab00d9bcd00d	1935	* Each enabled slave will have EXT_SENS_DATA registers associated with it by
JojoS	0:ab00d9bcd00d	1936	* number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from
JojoS	0:ab00d9bcd00d	1937	* EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may
JojoS	0:ab00d9bcd00d	1938	* change the higher numbered slaves' associated registers. Furthermore, if
JojoS	0:ab00d9bcd00d	1939	* fewer total bytes are being read from the external sensors as a result of
JojoS	0:ab00d9bcd00d	1940	* such a change, then the data remaining in the registers which no longer have
JojoS	0:ab00d9bcd00d	1941	* an associated slave device (i.e. high numbered registers) will remain in
JojoS	0:ab00d9bcd00d	1942	* these previously allocated registers unless reset.
JojoS	0:ab00d9bcd00d	1943	*
JojoS	0:ab00d9bcd00d	1944	* If the sum of the read lengths of all SLVx transactions exceed the number of
JojoS	0:ab00d9bcd00d	1945	* available EXT_SENS_DATA registers, the excess bytes will be dropped. There
JojoS	0:ab00d9bcd00d	1946	* are 24 EXT_SENS_DATA registers and hence the total read lengths between all
JojoS	0:ab00d9bcd00d	1947	* the slaves cannot be greater than 24 or some bytes will be lost.
JojoS	0:ab00d9bcd00d	1948	*
JojoS	0:ab00d9bcd00d	1949	* Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further
JojoS	0:ab00d9bcd00d	1950	* information regarding the characteristics of Slave 4, please refer to
JojoS	0:ab00d9bcd00d	1951	* Registers 49 to 53.
JojoS	0:ab00d9bcd00d	1952	*
JojoS	0:ab00d9bcd00d	1953	* EXAMPLE:
JojoS	0:ab00d9bcd00d	1954	* Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and
JojoS	0:ab00d9bcd00d	1955	* I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that
JojoS	0:ab00d9bcd00d	1956	* I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00
JojoS	0:ab00d9bcd00d	1957	* through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05
JojoS	0:ab00d9bcd00d	1958	* will be associated with Slave 1. If Slave 2 is enabled as well, registers
JojoS	0:ab00d9bcd00d	1959	* starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
JojoS	0:ab00d9bcd00d	1960	*
JojoS	0:ab00d9bcd00d	1961	* If Slave 2 is disabled while Slave 3 is enabled in this same situation, then
JojoS	0:ab00d9bcd00d	1962	* registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3
JojoS	0:ab00d9bcd00d	1963	* instead.
JojoS	0:ab00d9bcd00d	1964	*
JojoS	0:ab00d9bcd00d	1965	* REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE:
JojoS	0:ab00d9bcd00d	1966	* If a slave is disabled at any time, the space initially allocated to the
JojoS	0:ab00d9bcd00d	1967	* slave in the EXT_SENS_DATA register, will remain associated with that slave.
JojoS	0:ab00d9bcd00d	1968	* This is to avoid dynamic adjustment of the register allocation.
JojoS	0:ab00d9bcd00d	1969	*
JojoS	0:ab00d9bcd00d	1970	* The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all
JojoS	0:ab00d9bcd00d	1971	* slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
JojoS	0:ab00d9bcd00d	1972	*
JojoS	0:ab00d9bcd00d	1973	* This above is also true if one of the slaves gets NACKed and stops
JojoS	0:ab00d9bcd00d	1974	* functioning.
JojoS	0:ab00d9bcd00d	1975	*
JojoS	0:ab00d9bcd00d	1976	* @param position Starting position (0-23)
JojoS	0:ab00d9bcd00d	1977	* @return Byte read from register
JojoS	0:ab00d9bcd00d	1978	*/
JojoS	0:ab00d9bcd00d	1979	uint8_t MPU9150::getExternalSensorByte(int position) {
JojoS	0:ab00d9bcd00d	1980	i2Cdev.readByte(devAddr, MPU9150_RA_EXT_SENS_DATA_00 + position, buffer);
JojoS	0:ab00d9bcd00d	1981	return buffer[0];
JojoS	0:ab00d9bcd00d	1982	}
JojoS	0:ab00d9bcd00d	1983	/** Read word (2 bytes) from external sensor data registers.
JojoS	0:ab00d9bcd00d	1984	* @param position Starting position (0-21)
JojoS	0:ab00d9bcd00d	1985	* @return Word read from register
JojoS	0:ab00d9bcd00d	1986	* @see getExternalSensorByte()
JojoS	0:ab00d9bcd00d	1987	*/
JojoS	0:ab00d9bcd00d	1988	uint16_t MPU9150::getExternalSensorWord(int position) {
JojoS	0:ab00d9bcd00d	1989	i2Cdev.readBytes(devAddr, MPU9150_RA_EXT_SENS_DATA_00 + position, 2, buffer);
JojoS	0:ab00d9bcd00d	1990	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	1991	}
JojoS	0:ab00d9bcd00d	1992	/** Read double word (4 bytes) from external sensor data registers.
JojoS	0:ab00d9bcd00d	1993	* @param position Starting position (0-20)
JojoS	0:ab00d9bcd00d	1994	* @return Double word read from registers
JojoS	0:ab00d9bcd00d	1995	* @see getExternalSensorByte()
JojoS	0:ab00d9bcd00d	1996	*/
JojoS	0:ab00d9bcd00d	1997	uint32_t MPU9150::getExternalSensorDWord(int position) {
JojoS	0:ab00d9bcd00d	1998	i2Cdev.readBytes(devAddr, MPU9150_RA_EXT_SENS_DATA_00 + position, 4, buffer);
JojoS	0:ab00d9bcd00d	1999	return (((uint32_t)buffer[0]) << 24) \| (((uint32_t)buffer[1]) << 16) \| (((uint16_t)buffer[2]) << 8) \| buffer[3];
JojoS	0:ab00d9bcd00d	2000	}
JojoS	0:ab00d9bcd00d	2001
JojoS	0:ab00d9bcd00d	2002	// MOT_DETECT_STATUS register
JojoS	0:ab00d9bcd00d	2003
JojoS	0:ab00d9bcd00d	2004	/** Get X-axis negative motion detection interrupt status.
JojoS	0:ab00d9bcd00d	2005	* @return Motion detection status
JojoS	0:ab00d9bcd00d	2006	* @see MPU9150_RA_MOT_DETECT_STATUS
JojoS	0:ab00d9bcd00d	2007	* @see MPU9150_MOTION_MOT_XNEG_BIT
JojoS	0:ab00d9bcd00d	2008	*/
JojoS	0:ab00d9bcd00d	2009	bool MPU9150::getXNegMotionDetected() {
JojoS	0:ab00d9bcd00d	2010	i2Cdev.readBit(devAddr, MPU9150_RA_MOT_DETECT_STATUS, MPU9150_MOTION_MOT_XNEG_BIT, buffer);
JojoS	0:ab00d9bcd00d	2011	return buffer[0];
JojoS	0:ab00d9bcd00d	2012	}
JojoS	0:ab00d9bcd00d	2013	/** Get X-axis positive motion detection interrupt status.
JojoS	0:ab00d9bcd00d	2014	* @return Motion detection status
JojoS	0:ab00d9bcd00d	2015	* @see MPU9150_RA_MOT_DETECT_STATUS
JojoS	0:ab00d9bcd00d	2016	* @see MPU9150_MOTION_MOT_XPOS_BIT
JojoS	0:ab00d9bcd00d	2017	*/
JojoS	0:ab00d9bcd00d	2018	bool MPU9150::getXPosMotionDetected() {
JojoS	0:ab00d9bcd00d	2019	i2Cdev.readBit(devAddr, MPU9150_RA_MOT_DETECT_STATUS, MPU9150_MOTION_MOT_XPOS_BIT, buffer);
JojoS	0:ab00d9bcd00d	2020	return buffer[0];
JojoS	0:ab00d9bcd00d	2021	}
JojoS	0:ab00d9bcd00d	2022	/** Get Y-axis negative motion detection interrupt status.
JojoS	0:ab00d9bcd00d	2023	* @return Motion detection status
JojoS	0:ab00d9bcd00d	2024	* @see MPU9150_RA_MOT_DETECT_STATUS
JojoS	0:ab00d9bcd00d	2025	* @see MPU9150_MOTION_MOT_YNEG_BIT
JojoS	0:ab00d9bcd00d	2026	*/
JojoS	0:ab00d9bcd00d	2027	bool MPU9150::getYNegMotionDetected() {
JojoS	0:ab00d9bcd00d	2028	i2Cdev.readBit(devAddr, MPU9150_RA_MOT_DETECT_STATUS, MPU9150_MOTION_MOT_YNEG_BIT, buffer);
JojoS	0:ab00d9bcd00d	2029	return buffer[0];
JojoS	0:ab00d9bcd00d	2030	}
JojoS	0:ab00d9bcd00d	2031	/** Get Y-axis positive motion detection interrupt status.
JojoS	0:ab00d9bcd00d	2032	* @return Motion detection status
JojoS	0:ab00d9bcd00d	2033	* @see MPU9150_RA_MOT_DETECT_STATUS
JojoS	0:ab00d9bcd00d	2034	* @see MPU9150_MOTION_MOT_YPOS_BIT
JojoS	0:ab00d9bcd00d	2035	*/
JojoS	0:ab00d9bcd00d	2036	bool MPU9150::getYPosMotionDetected() {
JojoS	0:ab00d9bcd00d	2037	i2Cdev.readBit(devAddr, MPU9150_RA_MOT_DETECT_STATUS, MPU9150_MOTION_MOT_YPOS_BIT, buffer);
JojoS	0:ab00d9bcd00d	2038	return buffer[0];
JojoS	0:ab00d9bcd00d	2039	}
JojoS	0:ab00d9bcd00d	2040	/** Get Z-axis negative motion detection interrupt status.
JojoS	0:ab00d9bcd00d	2041	* @return Motion detection status
JojoS	0:ab00d9bcd00d	2042	* @see MPU9150_RA_MOT_DETECT_STATUS
JojoS	0:ab00d9bcd00d	2043	* @see MPU9150_MOTION_MOT_ZNEG_BIT
JojoS	0:ab00d9bcd00d	2044	*/
JojoS	0:ab00d9bcd00d	2045	bool MPU9150::getZNegMotionDetected() {
JojoS	0:ab00d9bcd00d	2046	i2Cdev.readBit(devAddr, MPU9150_RA_MOT_DETECT_STATUS, MPU9150_MOTION_MOT_ZNEG_BIT, buffer);
JojoS	0:ab00d9bcd00d	2047	return buffer[0];
JojoS	0:ab00d9bcd00d	2048	}
JojoS	0:ab00d9bcd00d	2049	/** Get Z-axis positive motion detection interrupt status.
JojoS	0:ab00d9bcd00d	2050	* @return Motion detection status
JojoS	0:ab00d9bcd00d	2051	* @see MPU9150_RA_MOT_DETECT_STATUS
JojoS	0:ab00d9bcd00d	2052	* @see MPU9150_MOTION_MOT_ZPOS_BIT
JojoS	0:ab00d9bcd00d	2053	*/
JojoS	0:ab00d9bcd00d	2054	bool MPU9150::getZPosMotionDetected() {
JojoS	0:ab00d9bcd00d	2055	i2Cdev.readBit(devAddr, MPU9150_RA_MOT_DETECT_STATUS, MPU9150_MOTION_MOT_ZPOS_BIT, buffer);
JojoS	0:ab00d9bcd00d	2056	return buffer[0];
JojoS	0:ab00d9bcd00d	2057	}
JojoS	0:ab00d9bcd00d	2058	/** Get zero motion detection interrupt status.
JojoS	0:ab00d9bcd00d	2059	* @return Motion detection status
JojoS	0:ab00d9bcd00d	2060	* @see MPU9150_RA_MOT_DETECT_STATUS
JojoS	0:ab00d9bcd00d	2061	* @see MPU9150_MOTION_MOT_ZRMOT_BIT
JojoS	0:ab00d9bcd00d	2062	*/
JojoS	0:ab00d9bcd00d	2063	bool MPU9150::getZeroMotionDetected() {
JojoS	0:ab00d9bcd00d	2064	i2Cdev.readBit(devAddr, MPU9150_RA_MOT_DETECT_STATUS, MPU9150_MOTION_MOT_ZRMOT_BIT, buffer);
JojoS	0:ab00d9bcd00d	2065	return buffer[0];
JojoS	0:ab00d9bcd00d	2066	}
JojoS	0:ab00d9bcd00d	2067
JojoS	0:ab00d9bcd00d	2068	// I2C_SLV*_DO register
JojoS	0:ab00d9bcd00d	2069
JojoS	0:ab00d9bcd00d	2070	/** Write byte to Data Output container for specified slave.
JojoS	0:ab00d9bcd00d	2071	* This register holds the output data written into Slave when Slave is set to
JojoS	0:ab00d9bcd00d	2072	* write mode. For further information regarding Slave control, please
JojoS	0:ab00d9bcd00d	2073	* refer to Registers 37 to 39 and immediately following.
JojoS	0:ab00d9bcd00d	2074	* @param num Slave number (0-3)
JojoS	0:ab00d9bcd00d	2075	* @param data Byte to write
JojoS	0:ab00d9bcd00d	2076	* @see MPU9150_RA_I2C_SLV0_DO
JojoS	0:ab00d9bcd00d	2077	*/
JojoS	0:ab00d9bcd00d	2078	void MPU9150::setSlaveOutputByte(uint8_t num, uint8_t data) {
JojoS	0:ab00d9bcd00d	2079	if (num > 3) return;
JojoS	0:ab00d9bcd00d	2080	i2Cdev.writeByte(devAddr, MPU9150_RA_I2C_SLV0_DO + num, data);
JojoS	0:ab00d9bcd00d	2081	}
JojoS	0:ab00d9bcd00d	2082
JojoS	0:ab00d9bcd00d	2083	// I2C_MST_DELAY_CTRL register
JojoS	0:ab00d9bcd00d	2084
JojoS	0:ab00d9bcd00d	2085	/** Get external data shadow delay enabled status.
JojoS	0:ab00d9bcd00d	2086	* This register is used to specify the timing of external sensor data
JojoS	0:ab00d9bcd00d	2087	* shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external
JojoS	0:ab00d9bcd00d	2088	* sensor data is delayed until all data has been received.
JojoS	0:ab00d9bcd00d	2089	* @return Current external data shadow delay enabled status.
JojoS	0:ab00d9bcd00d	2090	* @see MPU9150_RA_I2C_MST_DELAY_CTRL
JojoS	0:ab00d9bcd00d	2091	* @see MPU9150_DELAYCTRL_DELAY_ES_SHADOW_BIT
JojoS	0:ab00d9bcd00d	2092	*/
JojoS	0:ab00d9bcd00d	2093	bool MPU9150::getExternalShadowDelayEnabled() {
JojoS	0:ab00d9bcd00d	2094	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_MST_DELAY_CTRL, MPU9150_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer);
JojoS	0:ab00d9bcd00d	2095	return buffer[0];
JojoS	0:ab00d9bcd00d	2096	}
JojoS	0:ab00d9bcd00d	2097	/** Set external data shadow delay enabled status.
JojoS	0:ab00d9bcd00d	2098	* @param enabled New external data shadow delay enabled status.
JojoS	0:ab00d9bcd00d	2099	* @see getExternalShadowDelayEnabled()
JojoS	0:ab00d9bcd00d	2100	* @see MPU9150_RA_I2C_MST_DELAY_CTRL
JojoS	0:ab00d9bcd00d	2101	* @see MPU9150_DELAYCTRL_DELAY_ES_SHADOW_BIT
JojoS	0:ab00d9bcd00d	2102	*/
JojoS	0:ab00d9bcd00d	2103	void MPU9150::setExternalShadowDelayEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	2104	i2Cdev.writeBit(devAddr, MPU9150_RA_I2C_MST_DELAY_CTRL, MPU9150_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
JojoS	0:ab00d9bcd00d	2105	}
JojoS	0:ab00d9bcd00d	2106	/** Get slave delay enabled status.
JojoS	0:ab00d9bcd00d	2107	* When a particular slave delay is enabled, the rate of access for the that
JojoS	0:ab00d9bcd00d	2108	* slave device is reduced. When a slave's access rate is decreased relative to
JojoS	0:ab00d9bcd00d	2109	* the Sample Rate, the slave is accessed every:
JojoS	0:ab00d9bcd00d	2110	*
JojoS	0:ab00d9bcd00d	2111	* 1 / (1 + I2C_MST_DLY) Samples
JojoS	0:ab00d9bcd00d	2112	*
JojoS	0:ab00d9bcd00d	2113	* This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25)
JojoS	0:ab00d9bcd00d	2114	* and DLPF_CFG (register 26).
JojoS	0:ab00d9bcd00d	2115	*
JojoS	0:ab00d9bcd00d	2116	* For further information regarding I2C_MST_DLY, please refer to register 52.
JojoS	0:ab00d9bcd00d	2117	* For further information regarding the Sample Rate, please refer to register 25.
JojoS	0:ab00d9bcd00d	2118	*
JojoS	0:ab00d9bcd00d	2119	* @param num Slave number (0-4)
JojoS	0:ab00d9bcd00d	2120	* @return Current slave delay enabled status.
JojoS	0:ab00d9bcd00d	2121	* @see MPU9150_RA_I2C_MST_DELAY_CTRL
JojoS	0:ab00d9bcd00d	2122	* @see MPU9150_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
JojoS	0:ab00d9bcd00d	2123	*/
JojoS	0:ab00d9bcd00d	2124	bool MPU9150::getSlaveDelayEnabled(uint8_t num) {
JojoS	0:ab00d9bcd00d	2125	// MPU9150_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
JojoS	0:ab00d9bcd00d	2126	if (num > 4) return 0;
JojoS	0:ab00d9bcd00d	2127	i2Cdev.readBit(devAddr, MPU9150_RA_I2C_MST_DELAY_CTRL, num, buffer);
JojoS	0:ab00d9bcd00d	2128	return buffer[0];
JojoS	0:ab00d9bcd00d	2129	}
JojoS	0:ab00d9bcd00d	2130	/** Set slave delay enabled status.
JojoS	0:ab00d9bcd00d	2131	* @param num Slave number (0-4)
JojoS	0:ab00d9bcd00d	2132	* @param enabled New slave delay enabled status.
JojoS	0:ab00d9bcd00d	2133	* @see MPU9150_RA_I2C_MST_DELAY_CTRL
JojoS	0:ab00d9bcd00d	2134	* @see MPU9150_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
JojoS	0:ab00d9bcd00d	2135	*/
JojoS	0:ab00d9bcd00d	2136	void MPU9150::setSlaveDelayEnabled(uint8_t num, bool enabled) {
JojoS	0:ab00d9bcd00d	2137	i2Cdev.writeBit(devAddr, MPU9150_RA_I2C_MST_DELAY_CTRL, num, enabled);
JojoS	0:ab00d9bcd00d	2138	}
JojoS	0:ab00d9bcd00d	2139
JojoS	0:ab00d9bcd00d	2140	// SIGNAL_PATH_RESET register
JojoS	0:ab00d9bcd00d	2141
JojoS	0:ab00d9bcd00d	2142	/** Reset gyroscope signal path.
JojoS	0:ab00d9bcd00d	2143	* The reset will revert the signal path analog to digital converters and
JojoS	0:ab00d9bcd00d	2144	* filters to their power up configurations.
JojoS	0:ab00d9bcd00d	2145	* @see MPU9150_RA_SIGNAL_PATH_RESET
JojoS	0:ab00d9bcd00d	2146	* @see MPU9150_PATHRESET_GYRO_RESET_BIT
JojoS	0:ab00d9bcd00d	2147	*/
JojoS	0:ab00d9bcd00d	2148	void MPU9150::resetGyroscopePath() {
JojoS	0:ab00d9bcd00d	2149	i2Cdev.writeBit(devAddr, MPU9150_RA_SIGNAL_PATH_RESET, MPU9150_PATHRESET_GYRO_RESET_BIT, true);
JojoS	0:ab00d9bcd00d	2150	}
JojoS	0:ab00d9bcd00d	2151	/** Reset accelerometer signal path.
JojoS	0:ab00d9bcd00d	2152	* The reset will revert the signal path analog to digital converters and
JojoS	0:ab00d9bcd00d	2153	* filters to their power up configurations.
JojoS	0:ab00d9bcd00d	2154	* @see MPU9150_RA_SIGNAL_PATH_RESET
JojoS	0:ab00d9bcd00d	2155	* @see MPU9150_PATHRESET_ACCEL_RESET_BIT
JojoS	0:ab00d9bcd00d	2156	*/
JojoS	0:ab00d9bcd00d	2157	void MPU9150::resetAccelerometerPath() {
JojoS	0:ab00d9bcd00d	2158	i2Cdev.writeBit(devAddr, MPU9150_RA_SIGNAL_PATH_RESET, MPU9150_PATHRESET_ACCEL_RESET_BIT, true);
JojoS	0:ab00d9bcd00d	2159	}
JojoS	0:ab00d9bcd00d	2160	/** Reset temperature sensor signal path.
JojoS	0:ab00d9bcd00d	2161	* The reset will revert the signal path analog to digital converters and
JojoS	0:ab00d9bcd00d	2162	* filters to their power up configurations.
JojoS	0:ab00d9bcd00d	2163	* @see MPU9150_RA_SIGNAL_PATH_RESET
JojoS	0:ab00d9bcd00d	2164	* @see MPU9150_PATHRESET_TEMP_RESET_BIT
JojoS	0:ab00d9bcd00d	2165	*/
JojoS	0:ab00d9bcd00d	2166	void MPU9150::resetTemperaturePath() {
JojoS	0:ab00d9bcd00d	2167	i2Cdev.writeBit(devAddr, MPU9150_RA_SIGNAL_PATH_RESET, MPU9150_PATHRESET_TEMP_RESET_BIT, true);
JojoS	0:ab00d9bcd00d	2168	}
JojoS	0:ab00d9bcd00d	2169
JojoS	0:ab00d9bcd00d	2170	// MOT_DETECT_CTRL register
JojoS	0:ab00d9bcd00d	2171
JojoS	0:ab00d9bcd00d	2172	/** Get accelerometer power-on delay.
JojoS	0:ab00d9bcd00d	2173	* The accelerometer data path provides samples to the sensor registers, Motion
JojoS	0:ab00d9bcd00d	2174	* detection, Zero Motion detection, and Free Fall detection modules. The
JojoS	0:ab00d9bcd00d	2175	* signal path contains filters which must be flushed on wake-up with new
JojoS	0:ab00d9bcd00d	2176	* samples before the detection modules begin operations. The default wake-up
JojoS	0:ab00d9bcd00d	2177	* delay, of 4ms can be lengthened by up to 3ms. This additional delay is
JojoS	0:ab00d9bcd00d	2178	* specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select
JojoS	0:ab00d9bcd00d	2179	* any value above zero unless instructed otherwise by InvenSense. Please refer
JojoS	0:ab00d9bcd00d	2180	* to Section 8 of the MPU-6000/MPU-9150 Product Specification document for
JojoS	0:ab00d9bcd00d	2181	* further information regarding the detection modules.
JojoS	0:ab00d9bcd00d	2182	* @return Current accelerometer power-on delay
JojoS	0:ab00d9bcd00d	2183	* @see MPU9150_RA_MOT_DETECT_CTRL
JojoS	0:ab00d9bcd00d	2184	* @see MPU9150_DETECT_ACCEL_ON_DELAY_BIT
JojoS	0:ab00d9bcd00d	2185	*/
JojoS	0:ab00d9bcd00d	2186	uint8_t MPU9150::getAccelerometerPowerOnDelay() {
JojoS	0:ab00d9bcd00d	2187	i2Cdev.readBits(devAddr, MPU9150_RA_MOT_DETECT_CTRL, MPU9150_DETECT_ACCEL_ON_DELAY_BIT, MPU9150_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
JojoS	0:ab00d9bcd00d	2188	return buffer[0];
JojoS	0:ab00d9bcd00d	2189	}
JojoS	0:ab00d9bcd00d	2190	/** Set accelerometer power-on delay.
JojoS	0:ab00d9bcd00d	2191	* @param delay New accelerometer power-on delay (0-3)
JojoS	0:ab00d9bcd00d	2192	* @see getAccelerometerPowerOnDelay()
JojoS	0:ab00d9bcd00d	2193	* @see MPU9150_RA_MOT_DETECT_CTRL
JojoS	0:ab00d9bcd00d	2194	* @see MPU9150_DETECT_ACCEL_ON_DELAY_BIT
JojoS	0:ab00d9bcd00d	2195	*/
JojoS	0:ab00d9bcd00d	2196	void MPU9150::setAccelerometerPowerOnDelay(uint8_t delay) {
JojoS	0:ab00d9bcd00d	2197	i2Cdev.writeBits(devAddr, MPU9150_RA_MOT_DETECT_CTRL, MPU9150_DETECT_ACCEL_ON_DELAY_BIT, MPU9150_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
JojoS	0:ab00d9bcd00d	2198	}
JojoS	0:ab00d9bcd00d	2199	/** Get Free Fall detection counter decrement configuration.
JojoS	0:ab00d9bcd00d	2200	* Detection is registered by the Free Fall detection module after accelerometer
JojoS	0:ab00d9bcd00d	2201	* measurements meet their respective threshold conditions over a specified
JojoS	0:ab00d9bcd00d	2202	* number of samples. When the threshold conditions are met, the corresponding
JojoS	0:ab00d9bcd00d	2203	* detection counter increments by 1. The user may control the rate at which the
JojoS	0:ab00d9bcd00d	2204	* detection counter decrements when the threshold condition is not met by
JojoS	0:ab00d9bcd00d	2205	* configuring FF_COUNT. The decrement rate can be set according to the
JojoS	0:ab00d9bcd00d	2206	* following table:
JojoS	0:ab00d9bcd00d	2207	*
JojoS	0:ab00d9bcd00d	2208	* <pre>
JojoS	0:ab00d9bcd00d	2209	* FF_COUNT \| Counter Decrement
JojoS	0:ab00d9bcd00d	2210	* ---------+------------------
JojoS	0:ab00d9bcd00d	2211	* 0 \| Reset
JojoS	0:ab00d9bcd00d	2212	* 1 \| 1
JojoS	0:ab00d9bcd00d	2213	* 2 \| 2
JojoS	0:ab00d9bcd00d	2214	* 3 \| 4
JojoS	0:ab00d9bcd00d	2215	* </pre>
JojoS	0:ab00d9bcd00d	2216	*
JojoS	0:ab00d9bcd00d	2217	* When FF_COUNT is configured to 0 (reset), any non-qualifying sample will
JojoS	0:ab00d9bcd00d	2218	* reset the counter to 0. For further information on Free Fall detection,
JojoS	0:ab00d9bcd00d	2219	* please refer to Registers 29 to 32.
JojoS	0:ab00d9bcd00d	2220	*
JojoS	0:ab00d9bcd00d	2221	* @return Current decrement configuration
JojoS	0:ab00d9bcd00d	2222	* @see MPU9150_RA_MOT_DETECT_CTRL
JojoS	0:ab00d9bcd00d	2223	* @see MPU9150_DETECT_FF_COUNT_BIT
JojoS	0:ab00d9bcd00d	2224	*/
JojoS	0:ab00d9bcd00d	2225	uint8_t MPU9150::getFreefallDetectionCounterDecrement() {
JojoS	0:ab00d9bcd00d	2226	i2Cdev.readBits(devAddr, MPU9150_RA_MOT_DETECT_CTRL, MPU9150_DETECT_FF_COUNT_BIT, MPU9150_DETECT_FF_COUNT_LENGTH, buffer);
JojoS	0:ab00d9bcd00d	2227	return buffer[0];
JojoS	0:ab00d9bcd00d	2228	}
JojoS	0:ab00d9bcd00d	2229	/** Set Free Fall detection counter decrement configuration.
JojoS	0:ab00d9bcd00d	2230	* @param decrement New decrement configuration value
JojoS	0:ab00d9bcd00d	2231	* @see getFreefallDetectionCounterDecrement()
JojoS	0:ab00d9bcd00d	2232	* @see MPU9150_RA_MOT_DETECT_CTRL
JojoS	0:ab00d9bcd00d	2233	* @see MPU9150_DETECT_FF_COUNT_BIT
JojoS	0:ab00d9bcd00d	2234	*/
JojoS	0:ab00d9bcd00d	2235	void MPU9150::setFreefallDetectionCounterDecrement(uint8_t decrement) {
JojoS	0:ab00d9bcd00d	2236	i2Cdev.writeBits(devAddr, MPU9150_RA_MOT_DETECT_CTRL, MPU9150_DETECT_FF_COUNT_BIT, MPU9150_DETECT_FF_COUNT_LENGTH, decrement);
JojoS	0:ab00d9bcd00d	2237	}
JojoS	0:ab00d9bcd00d	2238	/** Get Motion detection counter decrement configuration.
JojoS	0:ab00d9bcd00d	2239	* Detection is registered by the Motion detection module after accelerometer
JojoS	0:ab00d9bcd00d	2240	* measurements meet their respective threshold conditions over a specified
JojoS	0:ab00d9bcd00d	2241	* number of samples. When the threshold conditions are met, the corresponding
JojoS	0:ab00d9bcd00d	2242	* detection counter increments by 1. The user may control the rate at which the
JojoS	0:ab00d9bcd00d	2243	* detection counter decrements when the threshold condition is not met by
JojoS	0:ab00d9bcd00d	2244	* configuring MOT_COUNT. The decrement rate can be set according to the
JojoS	0:ab00d9bcd00d	2245	* following table:
JojoS	0:ab00d9bcd00d	2246	*
JojoS	0:ab00d9bcd00d	2247	* <pre>
JojoS	0:ab00d9bcd00d	2248	* MOT_COUNT \| Counter Decrement
JojoS	0:ab00d9bcd00d	2249	* ----------+------------------
JojoS	0:ab00d9bcd00d	2250	* 0 \| Reset
JojoS	0:ab00d9bcd00d	2251	* 1 \| 1
JojoS	0:ab00d9bcd00d	2252	* 2 \| 2
JojoS	0:ab00d9bcd00d	2253	* 3 \| 4
JojoS	0:ab00d9bcd00d	2254	* </pre>
JojoS	0:ab00d9bcd00d	2255	*
JojoS	0:ab00d9bcd00d	2256	* When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will
JojoS	0:ab00d9bcd00d	2257	* reset the counter to 0. For further information on Motion detection,
JojoS	0:ab00d9bcd00d	2258	* please refer to Registers 29 to 32.
JojoS	0:ab00d9bcd00d	2259	*
JojoS	0:ab00d9bcd00d	2260	*/
JojoS	0:ab00d9bcd00d	2261	uint8_t MPU9150::getMotionDetectionCounterDecrement() {
JojoS	0:ab00d9bcd00d	2262	i2Cdev.readBits(devAddr, MPU9150_RA_MOT_DETECT_CTRL, MPU9150_DETECT_MOT_COUNT_BIT, MPU9150_DETECT_MOT_COUNT_LENGTH, buffer);
JojoS	0:ab00d9bcd00d	2263	return buffer[0];
JojoS	0:ab00d9bcd00d	2264	}
JojoS	0:ab00d9bcd00d	2265	/** Set Motion detection counter decrement configuration.
JojoS	0:ab00d9bcd00d	2266	* @param decrement New decrement configuration value
JojoS	0:ab00d9bcd00d	2267	* @see getMotionDetectionCounterDecrement()
JojoS	0:ab00d9bcd00d	2268	* @see MPU9150_RA_MOT_DETECT_CTRL
JojoS	0:ab00d9bcd00d	2269	* @see MPU9150_DETECT_MOT_COUNT_BIT
JojoS	0:ab00d9bcd00d	2270	*/
JojoS	0:ab00d9bcd00d	2271	void MPU9150::setMotionDetectionCounterDecrement(uint8_t decrement) {
JojoS	0:ab00d9bcd00d	2272	i2Cdev.writeBits(devAddr, MPU9150_RA_MOT_DETECT_CTRL, MPU9150_DETECT_MOT_COUNT_BIT, MPU9150_DETECT_MOT_COUNT_LENGTH, decrement);
JojoS	0:ab00d9bcd00d	2273	}
JojoS	0:ab00d9bcd00d	2274
JojoS	0:ab00d9bcd00d	2275	// USER_CTRL register
JojoS	0:ab00d9bcd00d	2276
JojoS	0:ab00d9bcd00d	2277	/** Get FIFO enabled status.
JojoS	0:ab00d9bcd00d	2278	* When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
JojoS	0:ab00d9bcd00d	2279	* cannot be written to or read from while disabled. The FIFO buffer's state
JojoS	0:ab00d9bcd00d	2280	* does not change unless the MPU-60X0 is power cycled.
JojoS	0:ab00d9bcd00d	2281	* @return Current FIFO enabled status
JojoS	0:ab00d9bcd00d	2282	* @see MPU9150_RA_USER_CTRL
JojoS	0:ab00d9bcd00d	2283	* @see MPU9150_USERCTRL_FIFO_EN_BIT
JojoS	0:ab00d9bcd00d	2284	*/
JojoS	0:ab00d9bcd00d	2285	bool MPU9150::getFIFOEnabled() {
JojoS	0:ab00d9bcd00d	2286	i2Cdev.readBit(devAddr, MPU9150_RA_USER_CTRL, MPU9150_USERCTRL_FIFO_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	2287	return buffer[0];
JojoS	0:ab00d9bcd00d	2288	}
JojoS	0:ab00d9bcd00d	2289	/** Set FIFO enabled status.
JojoS	0:ab00d9bcd00d	2290	* @param enabled New FIFO enabled status
JojoS	0:ab00d9bcd00d	2291	* @see getFIFOEnabled()
JojoS	0:ab00d9bcd00d	2292	* @see MPU9150_RA_USER_CTRL
JojoS	0:ab00d9bcd00d	2293	* @see MPU9150_USERCTRL_FIFO_EN_BIT
JojoS	0:ab00d9bcd00d	2294	*/
JojoS	0:ab00d9bcd00d	2295	void MPU9150::setFIFOEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	2296	i2Cdev.writeBit(devAddr, MPU9150_RA_USER_CTRL, MPU9150_USERCTRL_FIFO_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	2297	}
JojoS	0:ab00d9bcd00d	2298	/** Get I2C Master Mode enabled status.
JojoS	0:ab00d9bcd00d	2299	* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
JojoS	0:ab00d9bcd00d	2300	* external sensor slave devices on the auxiliary I2C bus. When this bit is
JojoS	0:ab00d9bcd00d	2301	* cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
JojoS	0:ab00d9bcd00d	2302	* driven by the primary I2C bus (SDA and SCL). This is a precondition to
JojoS	0:ab00d9bcd00d	2303	* enabling Bypass Mode. For further information regarding Bypass Mode, please
JojoS	0:ab00d9bcd00d	2304	* refer to Register 55.
JojoS	0:ab00d9bcd00d	2305	* @return Current I2C Master Mode enabled status
JojoS	0:ab00d9bcd00d	2306	* @see MPU9150_RA_USER_CTRL
JojoS	0:ab00d9bcd00d	2307	* @see MPU9150_USERCTRL_I2C_MST_EN_BIT
JojoS	0:ab00d9bcd00d	2308	*/
JojoS	0:ab00d9bcd00d	2309	bool MPU9150::getI2CMasterModeEnabled() {
JojoS	0:ab00d9bcd00d	2310	i2Cdev.readBit(devAddr, MPU9150_RA_USER_CTRL, MPU9150_USERCTRL_I2C_MST_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	2311	return buffer[0];
JojoS	0:ab00d9bcd00d	2312	}
JojoS	0:ab00d9bcd00d	2313	/** Set I2C Master Mode enabled status.
JojoS	0:ab00d9bcd00d	2314	* @param enabled New I2C Master Mode enabled status
JojoS	0:ab00d9bcd00d	2315	* @see getI2CMasterModeEnabled()
JojoS	0:ab00d9bcd00d	2316	* @see MPU9150_RA_USER_CTRL
JojoS	0:ab00d9bcd00d	2317	* @see MPU9150_USERCTRL_I2C_MST_EN_BIT
JojoS	0:ab00d9bcd00d	2318	*/
JojoS	0:ab00d9bcd00d	2319	void MPU9150::setI2CMasterModeEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	2320	i2Cdev.writeBit(devAddr, MPU9150_RA_USER_CTRL, MPU9150_USERCTRL_I2C_MST_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	2321	}
JojoS	0:ab00d9bcd00d	2322	/** Switch from I2C to SPI mode (MPU-6000 only)
JojoS	0:ab00d9bcd00d	2323	* If this is set, the primary SPI interface will be enabled in place of the
JojoS	0:ab00d9bcd00d	2324	* disabled primary I2C interface.
JojoS	0:ab00d9bcd00d	2325	*/
JojoS	0:ab00d9bcd00d	2326	void MPU9150::switchSPIEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	2327	i2Cdev.writeBit(devAddr, MPU9150_RA_USER_CTRL, MPU9150_USERCTRL_I2C_IF_DIS_BIT, enabled);
JojoS	0:ab00d9bcd00d	2328	}
JojoS	0:ab00d9bcd00d	2329	/** Reset the FIFO.
JojoS	0:ab00d9bcd00d	2330	* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
JojoS	0:ab00d9bcd00d	2331	* bit automatically clears to 0 after the reset has been triggered.
JojoS	0:ab00d9bcd00d	2332	* @see MPU9150_RA_USER_CTRL
JojoS	0:ab00d9bcd00d	2333	* @see MPU9150_USERCTRL_FIFO_RESET_BIT
JojoS	0:ab00d9bcd00d	2334	*/
JojoS	0:ab00d9bcd00d	2335	void MPU9150::resetFIFO() {
JojoS	0:ab00d9bcd00d	2336	i2Cdev.writeBit(devAddr, MPU9150_RA_USER_CTRL, MPU9150_USERCTRL_FIFO_RESET_BIT, true);
JojoS	0:ab00d9bcd00d	2337	}
JojoS	0:ab00d9bcd00d	2338	/** Reset the I2C Master.
JojoS	0:ab00d9bcd00d	2339	* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
JojoS	0:ab00d9bcd00d	2340	* This bit automatically clears to 0 after the reset has been triggered.
JojoS	0:ab00d9bcd00d	2341	* @see MPU9150_RA_USER_CTRL
JojoS	0:ab00d9bcd00d	2342	* @see MPU9150_USERCTRL_I2C_MST_RESET_BIT
JojoS	0:ab00d9bcd00d	2343	*/
JojoS	0:ab00d9bcd00d	2344	void MPU9150::resetI2CMaster() {
JojoS	0:ab00d9bcd00d	2345	i2Cdev.writeBit(devAddr, MPU9150_RA_USER_CTRL, MPU9150_USERCTRL_I2C_MST_RESET_BIT, true);
JojoS	0:ab00d9bcd00d	2346	}
JojoS	0:ab00d9bcd00d	2347	/** Reset all sensor registers and signal paths.
JojoS	0:ab00d9bcd00d	2348	* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
JojoS	0:ab00d9bcd00d	2349	* accelerometers, and temperature sensor). This operation will also clear the
JojoS	0:ab00d9bcd00d	2350	* sensor registers. This bit automatically clears to 0 after the reset has been
JojoS	0:ab00d9bcd00d	2351	* triggered.
JojoS	0:ab00d9bcd00d	2352	*
JojoS	0:ab00d9bcd00d	2353	* When resetting only the signal path (and not the sensor registers), please
JojoS	0:ab00d9bcd00d	2354	* use Register 104, SIGNAL_PATH_RESET.
JojoS	0:ab00d9bcd00d	2355	*
JojoS	0:ab00d9bcd00d	2356	* @see MPU9150_RA_USER_CTRL
JojoS	0:ab00d9bcd00d	2357	* @see MPU9150_USERCTRL_SIG_COND_RESET_BIT
JojoS	0:ab00d9bcd00d	2358	*/
JojoS	0:ab00d9bcd00d	2359	void MPU9150::resetSensors() {
JojoS	0:ab00d9bcd00d	2360	i2Cdev.writeBit(devAddr, MPU9150_RA_USER_CTRL, MPU9150_USERCTRL_SIG_COND_RESET_BIT, true);
JojoS	0:ab00d9bcd00d	2361	}
JojoS	0:ab00d9bcd00d	2362
JojoS	0:ab00d9bcd00d	2363	// PWR_MGMT_1 register
JojoS	0:ab00d9bcd00d	2364
JojoS	0:ab00d9bcd00d	2365	/** Trigger a full device reset.
JojoS	0:ab00d9bcd00d	2366	* A small delay of ~50ms may be desirable after triggering a reset.
JojoS	0:ab00d9bcd00d	2367	* @see MPU9150_RA_PWR_MGMT_1
JojoS	0:ab00d9bcd00d	2368	* @see MPU9150_PWR1_DEVICE_RESET_BIT
JojoS	0:ab00d9bcd00d	2369	*/
JojoS	0:ab00d9bcd00d	2370	void MPU9150::reset() {
JojoS	0:ab00d9bcd00d	2371	i2Cdev.writeBit(devAddr, MPU9150_RA_PWR_MGMT_1, MPU9150_PWR1_DEVICE_RESET_BIT, true);
JojoS	0:ab00d9bcd00d	2372	}
JojoS	0:ab00d9bcd00d	2373	/** Get sleep mode status.
JojoS	0:ab00d9bcd00d	2374	* Setting the SLEEP bit in the register puts the device into very low power
JojoS	0:ab00d9bcd00d	2375	* sleep mode. In this mode, only the serial interface and internal registers
JojoS	0:ab00d9bcd00d	2376	* remain active, allowing for a very low standby current. Clearing this bit
JojoS	0:ab00d9bcd00d	2377	* puts the device back into normal mode. To save power, the individual standby
JojoS	0:ab00d9bcd00d	2378	* selections for each of the gyros should be used if any gyro axis is not used
JojoS	0:ab00d9bcd00d	2379	* by the application.
JojoS	0:ab00d9bcd00d	2380	* @return Current sleep mode enabled status
JojoS	0:ab00d9bcd00d	2381	* @see MPU9150_RA_PWR_MGMT_1
JojoS	0:ab00d9bcd00d	2382	* @see MPU9150_PWR1_SLEEP_BIT
JojoS	0:ab00d9bcd00d	2383	*/
JojoS	0:ab00d9bcd00d	2384	bool MPU9150::getSleepEnabled() {
JojoS	0:ab00d9bcd00d	2385	i2Cdev.readBit(devAddr, MPU9150_RA_PWR_MGMT_1, MPU9150_PWR1_SLEEP_BIT, buffer);
JojoS	0:ab00d9bcd00d	2386	return buffer[0];
JojoS	0:ab00d9bcd00d	2387	}
JojoS	0:ab00d9bcd00d	2388	/** Set sleep mode status.
JojoS	0:ab00d9bcd00d	2389	* @param enabled New sleep mode enabled status
JojoS	0:ab00d9bcd00d	2390	* @see getSleepEnabled()
JojoS	0:ab00d9bcd00d	2391	* @see MPU9150_RA_PWR_MGMT_1
JojoS	0:ab00d9bcd00d	2392	* @see MPU9150_PWR1_SLEEP_BIT
JojoS	0:ab00d9bcd00d	2393	*/
JojoS	0:ab00d9bcd00d	2394	void MPU9150::setSleepEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	2395	i2Cdev.writeBit(devAddr, MPU9150_RA_PWR_MGMT_1, MPU9150_PWR1_SLEEP_BIT, enabled);
JojoS	0:ab00d9bcd00d	2396	}
JojoS	0:ab00d9bcd00d	2397	/** Get wake cycle enabled status.
JojoS	0:ab00d9bcd00d	2398	* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
JojoS	0:ab00d9bcd00d	2399	* between sleep mode and waking up to take a single sample of data from active
JojoS	0:ab00d9bcd00d	2400	* sensors at a rate determined by LP_WAKE_CTRL (register 108).
JojoS	0:ab00d9bcd00d	2401	* @return Current sleep mode enabled status
JojoS	0:ab00d9bcd00d	2402	* @see MPU9150_RA_PWR_MGMT_1
JojoS	0:ab00d9bcd00d	2403	* @see MPU9150_PWR1_CYCLE_BIT
JojoS	0:ab00d9bcd00d	2404	*/
JojoS	0:ab00d9bcd00d	2405	bool MPU9150::getWakeCycleEnabled() {
JojoS	0:ab00d9bcd00d	2406	i2Cdev.readBit(devAddr, MPU9150_RA_PWR_MGMT_1, MPU9150_PWR1_CYCLE_BIT, buffer);
JojoS	0:ab00d9bcd00d	2407	return buffer[0];
JojoS	0:ab00d9bcd00d	2408	}
JojoS	0:ab00d9bcd00d	2409	/** Set wake cycle enabled status.
JojoS	0:ab00d9bcd00d	2410	* @param enabled New sleep mode enabled status
JojoS	0:ab00d9bcd00d	2411	* @see getWakeCycleEnabled()
JojoS	0:ab00d9bcd00d	2412	* @see MPU9150_RA_PWR_MGMT_1
JojoS	0:ab00d9bcd00d	2413	* @see MPU9150_PWR1_CYCLE_BIT
JojoS	0:ab00d9bcd00d	2414	*/
JojoS	0:ab00d9bcd00d	2415	void MPU9150::setWakeCycleEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	2416	i2Cdev.writeBit(devAddr, MPU9150_RA_PWR_MGMT_1, MPU9150_PWR1_CYCLE_BIT, enabled);
JojoS	0:ab00d9bcd00d	2417	}
JojoS	0:ab00d9bcd00d	2418	/** Get temperature sensor enabled status.
JojoS	0:ab00d9bcd00d	2419	* Control the usage of the internal temperature sensor.
JojoS	0:ab00d9bcd00d	2420	*
JojoS	0:ab00d9bcd00d	2421	* Note: this register stores the disabled value, but for consistency with the
JojoS	0:ab00d9bcd00d	2422	* rest of the code, the function is named and used with standard true/false
JojoS	0:ab00d9bcd00d	2423	* values to indicate whether the sensor is enabled or disabled, respectively.
JojoS	0:ab00d9bcd00d	2424	*
JojoS	0:ab00d9bcd00d	2425	* @return Current temperature sensor enabled status
JojoS	0:ab00d9bcd00d	2426	* @see MPU9150_RA_PWR_MGMT_1
JojoS	0:ab00d9bcd00d	2427	* @see MPU9150_PWR1_TEMP_DIS_BIT
JojoS	0:ab00d9bcd00d	2428	*/
JojoS	0:ab00d9bcd00d	2429	bool MPU9150::getTempSensorEnabled() {
JojoS	0:ab00d9bcd00d	2430	i2Cdev.readBit(devAddr, MPU9150_RA_PWR_MGMT_1, MPU9150_PWR1_TEMP_DIS_BIT, buffer);
JojoS	0:ab00d9bcd00d	2431	return buffer[0] == 0; // 1 is actually disabled here
JojoS	0:ab00d9bcd00d	2432	}
JojoS	0:ab00d9bcd00d	2433	/** Set temperature sensor enabled status.
JojoS	0:ab00d9bcd00d	2434	* Note: this register stores the disabled value, but for consistency with the
JojoS	0:ab00d9bcd00d	2435	* rest of the code, the function is named and used with standard true/false
JojoS	0:ab00d9bcd00d	2436	* values to indicate whether the sensor is enabled or disabled, respectively.
JojoS	0:ab00d9bcd00d	2437	*
JojoS	0:ab00d9bcd00d	2438	* @param enabled New temperature sensor enabled status
JojoS	0:ab00d9bcd00d	2439	* @see getTempSensorEnabled()
JojoS	0:ab00d9bcd00d	2440	* @see MPU9150_RA_PWR_MGMT_1
JojoS	0:ab00d9bcd00d	2441	* @see MPU9150_PWR1_TEMP_DIS_BIT
JojoS	0:ab00d9bcd00d	2442	*/
JojoS	0:ab00d9bcd00d	2443	void MPU9150::setTempSensorEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	2444	// 1 is actually disabled here
JojoS	0:ab00d9bcd00d	2445	i2Cdev.writeBit(devAddr, MPU9150_RA_PWR_MGMT_1, MPU9150_PWR1_TEMP_DIS_BIT, !enabled);
JojoS	0:ab00d9bcd00d	2446	}
JojoS	0:ab00d9bcd00d	2447	/** Get clock source setting.
JojoS	0:ab00d9bcd00d	2448	* @return Current clock source setting
JojoS	0:ab00d9bcd00d	2449	* @see MPU9150_RA_PWR_MGMT_1
JojoS	0:ab00d9bcd00d	2450	* @see MPU9150_PWR1_CLKSEL_BIT
JojoS	0:ab00d9bcd00d	2451	* @see MPU9150_PWR1_CLKSEL_LENGTH
JojoS	0:ab00d9bcd00d	2452	*/
JojoS	0:ab00d9bcd00d	2453	uint8_t MPU9150::getClockSource() {
JojoS	0:ab00d9bcd00d	2454	i2Cdev.readBits(devAddr, MPU9150_RA_PWR_MGMT_1, MPU9150_PWR1_CLKSEL_BIT, MPU9150_PWR1_CLKSEL_LENGTH, buffer);
JojoS	0:ab00d9bcd00d	2455	return buffer[0];
JojoS	0:ab00d9bcd00d	2456	}
JojoS	0:ab00d9bcd00d	2457	/** Set clock source setting.
JojoS	0:ab00d9bcd00d	2458	* An internal 8MHz oscillator, gyroscope based clock, or external sources can
JojoS	0:ab00d9bcd00d	2459	* be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
JojoS	0:ab00d9bcd00d	2460	* or an external source is chosen as the clock source, the MPU-60X0 can operate
JojoS	0:ab00d9bcd00d	2461	* in low power modes with the gyroscopes disabled.
JojoS	0:ab00d9bcd00d	2462	*
JojoS	0:ab00d9bcd00d	2463	* Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
JojoS	0:ab00d9bcd00d	2464	* However, it is highly recommended that the device be configured to use one of
JojoS	0:ab00d9bcd00d	2465	* the gyroscopes (or an external clock source) as the clock reference for
JojoS	0:ab00d9bcd00d	2466	* improved stability. The clock source can be selected according to the following table:
JojoS	0:ab00d9bcd00d	2467	*
JojoS	0:ab00d9bcd00d	2468	* <pre>
JojoS	0:ab00d9bcd00d	2469	* CLK_SEL \| Clock Source
JojoS	0:ab00d9bcd00d	2470	* --------+--------------------------------------
JojoS	0:ab00d9bcd00d	2471	* 0 \| Internal oscillator
JojoS	0:ab00d9bcd00d	2472	* 1 \| PLL with X Gyro reference
JojoS	0:ab00d9bcd00d	2473	* 2 \| PLL with Y Gyro reference
JojoS	0:ab00d9bcd00d	2474	* 3 \| PLL with Z Gyro reference
JojoS	0:ab00d9bcd00d	2475	* 4 \| PLL with external 32.768kHz reference
JojoS	0:ab00d9bcd00d	2476	* 5 \| PLL with external 19.2MHz reference
JojoS	0:ab00d9bcd00d	2477	* 6 \| Reserved
JojoS	0:ab00d9bcd00d	2478	* 7 \| Stops the clock and keeps the timing generator in reset
JojoS	0:ab00d9bcd00d	2479	* </pre>
JojoS	0:ab00d9bcd00d	2480	*
JojoS	0:ab00d9bcd00d	2481	* @param source New clock source setting
JojoS	0:ab00d9bcd00d	2482	* @see getClockSource()
JojoS	0:ab00d9bcd00d	2483	* @see MPU9150_RA_PWR_MGMT_1
JojoS	0:ab00d9bcd00d	2484	* @see MPU9150_PWR1_CLKSEL_BIT
JojoS	0:ab00d9bcd00d	2485	* @see MPU9150_PWR1_CLKSEL_LENGTH
JojoS	0:ab00d9bcd00d	2486	*/
JojoS	0:ab00d9bcd00d	2487	void MPU9150::setClockSource(uint8_t source) {
JojoS	0:ab00d9bcd00d	2488	i2Cdev.writeBits(devAddr, MPU9150_RA_PWR_MGMT_1, MPU9150_PWR1_CLKSEL_BIT, MPU9150_PWR1_CLKSEL_LENGTH, source);
JojoS	0:ab00d9bcd00d	2489	}
JojoS	0:ab00d9bcd00d	2490
JojoS	0:ab00d9bcd00d	2491	// PWR_MGMT_2 register
JojoS	0:ab00d9bcd00d	2492
JojoS	0:ab00d9bcd00d	2493	/** Get wake frequency in Accel-Only Low Power Mode.
JojoS	0:ab00d9bcd00d	2494	* The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting
JojoS	0:ab00d9bcd00d	2495	* PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode,
JojoS	0:ab00d9bcd00d	2496	* the device will power off all devices except for the primary I2C interface,
JojoS	0:ab00d9bcd00d	2497	* waking only the accelerometer at fixed intervals to take a single
JojoS	0:ab00d9bcd00d	2498	* measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL
JojoS	0:ab00d9bcd00d	2499	* as shown below:
JojoS	0:ab00d9bcd00d	2500	*
JojoS	0:ab00d9bcd00d	2501	* <pre>
JojoS	0:ab00d9bcd00d	2502	* LP_WAKE_CTRL \| Wake-up Frequency
JojoS	0:ab00d9bcd00d	2503	* -------------+------------------
JojoS	0:ab00d9bcd00d	2504	* 0 \| 1.25 Hz
JojoS	0:ab00d9bcd00d	2505	* 1 \| 2.5 Hz
JojoS	0:ab00d9bcd00d	2506	* 2 \| 5 Hz
JojoS	0:ab00d9bcd00d	2507	* 3 \| 10 Hz
JojoS	0:ab00d9bcd00d	2508	* <pre>
JojoS	0:ab00d9bcd00d	2509	*
JojoS	0:ab00d9bcd00d	2510	* For further information regarding the MPU-60X0's power modes, please refer to
JojoS	0:ab00d9bcd00d	2511	* Register 107.
JojoS	0:ab00d9bcd00d	2512	*
JojoS	0:ab00d9bcd00d	2513	* @return Current wake frequency
JojoS	0:ab00d9bcd00d	2514	* @see MPU9150_RA_PWR_MGMT_2
JojoS	0:ab00d9bcd00d	2515	*/
JojoS	0:ab00d9bcd00d	2516	uint8_t MPU9150::getWakeFrequency() {
JojoS	0:ab00d9bcd00d	2517	i2Cdev.readBits(devAddr, MPU9150_RA_PWR_MGMT_2, MPU9150_PWR2_LP_WAKE_CTRL_BIT, MPU9150_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
JojoS	0:ab00d9bcd00d	2518	return buffer[0];
JojoS	0:ab00d9bcd00d	2519	}
JojoS	0:ab00d9bcd00d	2520	/** Set wake frequency in Accel-Only Low Power Mode.
JojoS	0:ab00d9bcd00d	2521	* @param frequency New wake frequency
JojoS	0:ab00d9bcd00d	2522	* @see MPU9150_RA_PWR_MGMT_2
JojoS	0:ab00d9bcd00d	2523	*/
JojoS	0:ab00d9bcd00d	2524	void MPU9150::setWakeFrequency(uint8_t frequency) {
JojoS	0:ab00d9bcd00d	2525	i2Cdev.writeBits(devAddr, MPU9150_RA_PWR_MGMT_2, MPU9150_PWR2_LP_WAKE_CTRL_BIT, MPU9150_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
JojoS	0:ab00d9bcd00d	2526	}
JojoS	0:ab00d9bcd00d	2527
JojoS	0:ab00d9bcd00d	2528	/** Get X-axis accelerometer standby enabled status.
JojoS	0:ab00d9bcd00d	2529	* If enabled, the X-axis will not gather or report data (or use power).
JojoS	0:ab00d9bcd00d	2530	* @return Current X-axis standby enabled status
JojoS	0:ab00d9bcd00d	2531	* @see MPU9150_RA_PWR_MGMT_2
JojoS	0:ab00d9bcd00d	2532	* @see MPU9150_PWR2_STBY_XA_BIT
JojoS	0:ab00d9bcd00d	2533	*/
JojoS	0:ab00d9bcd00d	2534	bool MPU9150::getStandbyXAccelEnabled() {
JojoS	0:ab00d9bcd00d	2535	i2Cdev.readBit(devAddr, MPU9150_RA_PWR_MGMT_2, MPU9150_PWR2_STBY_XA_BIT, buffer);
JojoS	0:ab00d9bcd00d	2536	return buffer[0];
JojoS	0:ab00d9bcd00d	2537	}
JojoS	0:ab00d9bcd00d	2538	/** Set X-axis accelerometer standby enabled status.
JojoS	0:ab00d9bcd00d	2539	* @param New X-axis standby enabled status
JojoS	0:ab00d9bcd00d	2540	* @see getStandbyXAccelEnabled()
JojoS	0:ab00d9bcd00d	2541	* @see MPU9150_RA_PWR_MGMT_2
JojoS	0:ab00d9bcd00d	2542	* @see MPU9150_PWR2_STBY_XA_BIT
JojoS	0:ab00d9bcd00d	2543	*/
JojoS	0:ab00d9bcd00d	2544	void MPU9150::setStandbyXAccelEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	2545	i2Cdev.writeBit(devAddr, MPU9150_RA_PWR_MGMT_2, MPU9150_PWR2_STBY_XA_BIT, enabled);
JojoS	0:ab00d9bcd00d	2546	}
JojoS	0:ab00d9bcd00d	2547	/** Get Y-axis accelerometer standby enabled status.
JojoS	0:ab00d9bcd00d	2548	* If enabled, the Y-axis will not gather or report data (or use power).
JojoS	0:ab00d9bcd00d	2549	* @return Current Y-axis standby enabled status
JojoS	0:ab00d9bcd00d	2550	* @see MPU9150_RA_PWR_MGMT_2
JojoS	0:ab00d9bcd00d	2551	* @see MPU9150_PWR2_STBY_YA_BIT
JojoS	0:ab00d9bcd00d	2552	*/
JojoS	0:ab00d9bcd00d	2553	bool MPU9150::getStandbyYAccelEnabled() {
JojoS	0:ab00d9bcd00d	2554	i2Cdev.readBit(devAddr, MPU9150_RA_PWR_MGMT_2, MPU9150_PWR2_STBY_YA_BIT, buffer);
JojoS	0:ab00d9bcd00d	2555	return buffer[0];
JojoS	0:ab00d9bcd00d	2556	}
JojoS	0:ab00d9bcd00d	2557	/** Set Y-axis accelerometer standby enabled status.
JojoS	0:ab00d9bcd00d	2558	* @param New Y-axis standby enabled status
JojoS	0:ab00d9bcd00d	2559	* @see getStandbyYAccelEnabled()
JojoS	0:ab00d9bcd00d	2560	* @see MPU9150_RA_PWR_MGMT_2
JojoS	0:ab00d9bcd00d	2561	* @see MPU9150_PWR2_STBY_YA_BIT
JojoS	0:ab00d9bcd00d	2562	*/
JojoS	0:ab00d9bcd00d	2563	void MPU9150::setStandbyYAccelEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	2564	i2Cdev.writeBit(devAddr, MPU9150_RA_PWR_MGMT_2, MPU9150_PWR2_STBY_YA_BIT, enabled);
JojoS	0:ab00d9bcd00d	2565	}
JojoS	0:ab00d9bcd00d	2566	/** Get Z-axis accelerometer standby enabled status.
JojoS	0:ab00d9bcd00d	2567	* If enabled, the Z-axis will not gather or report data (or use power).
JojoS	0:ab00d9bcd00d	2568	* @return Current Z-axis standby enabled status
JojoS	0:ab00d9bcd00d	2569	* @see MPU9150_RA_PWR_MGMT_2
JojoS	0:ab00d9bcd00d	2570	* @see MPU9150_PWR2_STBY_ZA_BIT
JojoS	0:ab00d9bcd00d	2571	*/
JojoS	0:ab00d9bcd00d	2572	bool MPU9150::getStandbyZAccelEnabled() {
JojoS	0:ab00d9bcd00d	2573	i2Cdev.readBit(devAddr, MPU9150_RA_PWR_MGMT_2, MPU9150_PWR2_STBY_ZA_BIT, buffer);
JojoS	0:ab00d9bcd00d	2574	return buffer[0];
JojoS	0:ab00d9bcd00d	2575	}
JojoS	0:ab00d9bcd00d	2576	/** Set Z-axis accelerometer standby enabled status.
JojoS	0:ab00d9bcd00d	2577	* @param New Z-axis standby enabled status
JojoS	0:ab00d9bcd00d	2578	* @see getStandbyZAccelEnabled()
JojoS	0:ab00d9bcd00d	2579	* @see MPU9150_RA_PWR_MGMT_2
JojoS	0:ab00d9bcd00d	2580	* @see MPU9150_PWR2_STBY_ZA_BIT
JojoS	0:ab00d9bcd00d	2581	*/
JojoS	0:ab00d9bcd00d	2582	void MPU9150::setStandbyZAccelEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	2583	i2Cdev.writeBit(devAddr, MPU9150_RA_PWR_MGMT_2, MPU9150_PWR2_STBY_ZA_BIT, enabled);
JojoS	0:ab00d9bcd00d	2584	}
JojoS	0:ab00d9bcd00d	2585	/** Get X-axis gyroscope standby enabled status.
JojoS	0:ab00d9bcd00d	2586	* If enabled, the X-axis will not gather or report data (or use power).
JojoS	0:ab00d9bcd00d	2587	* @return Current X-axis standby enabled status
JojoS	0:ab00d9bcd00d	2588	* @see MPU9150_RA_PWR_MGMT_2
JojoS	0:ab00d9bcd00d	2589	* @see MPU9150_PWR2_STBY_XG_BIT
JojoS	0:ab00d9bcd00d	2590	*/
JojoS	0:ab00d9bcd00d	2591	bool MPU9150::getStandbyXGyroEnabled() {
JojoS	0:ab00d9bcd00d	2592	i2Cdev.readBit(devAddr, MPU9150_RA_PWR_MGMT_2, MPU9150_PWR2_STBY_XG_BIT, buffer);
JojoS	0:ab00d9bcd00d	2593	return buffer[0];
JojoS	0:ab00d9bcd00d	2594	}
JojoS	0:ab00d9bcd00d	2595	/** Set X-axis gyroscope standby enabled status.
JojoS	0:ab00d9bcd00d	2596	* @param New X-axis standby enabled status
JojoS	0:ab00d9bcd00d	2597	* @see getStandbyXGyroEnabled()
JojoS	0:ab00d9bcd00d	2598	* @see MPU9150_RA_PWR_MGMT_2
JojoS	0:ab00d9bcd00d	2599	* @see MPU9150_PWR2_STBY_XG_BIT
JojoS	0:ab00d9bcd00d	2600	*/
JojoS	0:ab00d9bcd00d	2601	void MPU9150::setStandbyXGyroEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	2602	i2Cdev.writeBit(devAddr, MPU9150_RA_PWR_MGMT_2, MPU9150_PWR2_STBY_XG_BIT, enabled);
JojoS	0:ab00d9bcd00d	2603	}
JojoS	0:ab00d9bcd00d	2604	/** Get Y-axis gyroscope standby enabled status.
JojoS	0:ab00d9bcd00d	2605	* If enabled, the Y-axis will not gather or report data (or use power).
JojoS	0:ab00d9bcd00d	2606	* @return Current Y-axis standby enabled status
JojoS	0:ab00d9bcd00d	2607	* @see MPU9150_RA_PWR_MGMT_2
JojoS	0:ab00d9bcd00d	2608	* @see MPU9150_PWR2_STBY_YG_BIT
JojoS	0:ab00d9bcd00d	2609	*/
JojoS	0:ab00d9bcd00d	2610	bool MPU9150::getStandbyYGyroEnabled() {
JojoS	0:ab00d9bcd00d	2611	i2Cdev.readBit(devAddr, MPU9150_RA_PWR_MGMT_2, MPU9150_PWR2_STBY_YG_BIT, buffer);
JojoS	0:ab00d9bcd00d	2612	return buffer[0];
JojoS	0:ab00d9bcd00d	2613	}
JojoS	0:ab00d9bcd00d	2614	/** Set Y-axis gyroscope standby enabled status.
JojoS	0:ab00d9bcd00d	2615	* @param New Y-axis standby enabled status
JojoS	0:ab00d9bcd00d	2616	* @see getStandbyYGyroEnabled()
JojoS	0:ab00d9bcd00d	2617	* @see MPU9150_RA_PWR_MGMT_2
JojoS	0:ab00d9bcd00d	2618	* @see MPU9150_PWR2_STBY_YG_BIT
JojoS	0:ab00d9bcd00d	2619	*/
JojoS	0:ab00d9bcd00d	2620	void MPU9150::setStandbyYGyroEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	2621	i2Cdev.writeBit(devAddr, MPU9150_RA_PWR_MGMT_2, MPU9150_PWR2_STBY_YG_BIT, enabled);
JojoS	0:ab00d9bcd00d	2622	}
JojoS	0:ab00d9bcd00d	2623	/** Get Z-axis gyroscope standby enabled status.
JojoS	0:ab00d9bcd00d	2624	* If enabled, the Z-axis will not gather or report data (or use power).
JojoS	0:ab00d9bcd00d	2625	* @return Current Z-axis standby enabled status
JojoS	0:ab00d9bcd00d	2626	* @see MPU9150_RA_PWR_MGMT_2
JojoS	0:ab00d9bcd00d	2627	* @see MPU9150_PWR2_STBY_ZG_BIT
JojoS	0:ab00d9bcd00d	2628	*/
JojoS	0:ab00d9bcd00d	2629	bool MPU9150::getStandbyZGyroEnabled() {
JojoS	0:ab00d9bcd00d	2630	i2Cdev.readBit(devAddr, MPU9150_RA_PWR_MGMT_2, MPU9150_PWR2_STBY_ZG_BIT, buffer);
JojoS	0:ab00d9bcd00d	2631	return buffer[0];
JojoS	0:ab00d9bcd00d	2632	}
JojoS	0:ab00d9bcd00d	2633	/** Set Z-axis gyroscope standby enabled status.
JojoS	0:ab00d9bcd00d	2634	* @param New Z-axis standby enabled status
JojoS	0:ab00d9bcd00d	2635	* @see getStandbyZGyroEnabled()
JojoS	0:ab00d9bcd00d	2636	* @see MPU9150_RA_PWR_MGMT_2
JojoS	0:ab00d9bcd00d	2637	* @see MPU9150_PWR2_STBY_ZG_BIT
JojoS	0:ab00d9bcd00d	2638	*/
JojoS	0:ab00d9bcd00d	2639	void MPU9150::setStandbyZGyroEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	2640	i2Cdev.writeBit(devAddr, MPU9150_RA_PWR_MGMT_2, MPU9150_PWR2_STBY_ZG_BIT, enabled);
JojoS	0:ab00d9bcd00d	2641	}
JojoS	0:ab00d9bcd00d	2642
JojoS	0:ab00d9bcd00d	2643	// FIFO_COUNT* registers
JojoS	0:ab00d9bcd00d	2644
JojoS	0:ab00d9bcd00d	2645	/** Get current FIFO buffer size.
JojoS	0:ab00d9bcd00d	2646	* This value indicates the number of bytes stored in the FIFO buffer. This
JojoS	0:ab00d9bcd00d	2647	* number is in turn the number of bytes that can be read from the FIFO buffer
JojoS	0:ab00d9bcd00d	2648	* and it is directly proportional to the number of samples available given the
JojoS	0:ab00d9bcd00d	2649	* set of sensor data bound to be stored in the FIFO (register 35 and 36).
JojoS	0:ab00d9bcd00d	2650	* @return Current FIFO buffer size
JojoS	0:ab00d9bcd00d	2651	*/
JojoS	0:ab00d9bcd00d	2652	uint16_t MPU9150::getFIFOCount() {
JojoS	0:ab00d9bcd00d	2653	i2Cdev.readBytes(devAddr, MPU9150_RA_FIFO_COUNTH, 2, buffer);
JojoS	0:ab00d9bcd00d	2654	return (((uint16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	2655	}
JojoS	0:ab00d9bcd00d	2656
JojoS	0:ab00d9bcd00d	2657	// FIFO_R_W register
JojoS	0:ab00d9bcd00d	2658
JojoS	0:ab00d9bcd00d	2659	/** Get byte from FIFO buffer.
JojoS	0:ab00d9bcd00d	2660	* This register is used to read and write data from the FIFO buffer. Data is
JojoS	0:ab00d9bcd00d	2661	* written to the FIFO in order of register number (from lowest to highest). If
JojoS	0:ab00d9bcd00d	2662	* all the FIFO enable flags (see below) are enabled and all External Sensor
JojoS	0:ab00d9bcd00d	2663	* Data registers (Registers 73 to 96) are associated with a Slave device, the
JojoS	0:ab00d9bcd00d	2664	* contents of registers 59 through 96 will be written in order at the Sample
JojoS	0:ab00d9bcd00d	2665	* Rate.
JojoS	0:ab00d9bcd00d	2666	*
JojoS	0:ab00d9bcd00d	2667	* The contents of the sensor data registers (Registers 59 to 96) are written
JojoS	0:ab00d9bcd00d	2668	* into the FIFO buffer when their corresponding FIFO enable flags are set to 1
JojoS	0:ab00d9bcd00d	2669	* in FIFO_EN (Register 35). An additional flag for the sensor data registers
JojoS	0:ab00d9bcd00d	2670	* associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
JojoS	0:ab00d9bcd00d	2671	*
JojoS	0:ab00d9bcd00d	2672	* If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
JojoS	0:ab00d9bcd00d	2673	* automatically set to 1. This bit is located in INT_STATUS (Register 58).
JojoS	0:ab00d9bcd00d	2674	* When the FIFO buffer has overflowed, the oldest data will be lost and new
JojoS	0:ab00d9bcd00d	2675	* data will be written to the FIFO.
JojoS	0:ab00d9bcd00d	2676	*
JojoS	0:ab00d9bcd00d	2677	* If the FIFO buffer is empty, reading this register will return the last byte
JojoS	0:ab00d9bcd00d	2678	* that was previously read from the FIFO until new data is available. The user
JojoS	0:ab00d9bcd00d	2679	* should check FIFO_COUNT to ensure that the FIFO buffer is not read when
JojoS	0:ab00d9bcd00d	2680	* empty.
JojoS	0:ab00d9bcd00d	2681	*
JojoS	0:ab00d9bcd00d	2682	* @return Byte from FIFO buffer
JojoS	0:ab00d9bcd00d	2683	*/
JojoS	0:ab00d9bcd00d	2684	uint8_t MPU9150::getFIFOByte() {
JojoS	0:ab00d9bcd00d	2685	i2Cdev.readByte(devAddr, MPU9150_RA_FIFO_R_W, buffer);
JojoS	0:ab00d9bcd00d	2686	return buffer[0];
JojoS	0:ab00d9bcd00d	2687	}
JojoS	0:ab00d9bcd00d	2688	void MPU9150::getFIFOBytes(uint8_t *data, uint8_t length) {
JojoS	0:ab00d9bcd00d	2689	i2Cdev.readBytes(devAddr, MPU9150_RA_FIFO_R_W, length, data);
JojoS	0:ab00d9bcd00d	2690	}
JojoS	0:ab00d9bcd00d	2691	/** Write byte to FIFO buffer.
JojoS	0:ab00d9bcd00d	2692	* @see getFIFOByte()
JojoS	0:ab00d9bcd00d	2693	* @see MPU9150_RA_FIFO_R_W
JojoS	0:ab00d9bcd00d	2694	*/
JojoS	0:ab00d9bcd00d	2695	void MPU9150::setFIFOByte(uint8_t data) {
JojoS	0:ab00d9bcd00d	2696	i2Cdev.writeByte(devAddr, MPU9150_RA_FIFO_R_W, data);
JojoS	0:ab00d9bcd00d	2697	}
JojoS	0:ab00d9bcd00d	2698
JojoS	0:ab00d9bcd00d	2699	// WHO_AM_I register
JojoS	0:ab00d9bcd00d	2700
JojoS	0:ab00d9bcd00d	2701	/** Get Device ID.
JojoS	0:ab00d9bcd00d	2702	* This register is used to verify the identity of the device (0b110100, 0x34).
JojoS	0:ab00d9bcd00d	2703	* @return Device ID (6 bits only! should be 0x34)
JojoS	0:ab00d9bcd00d	2704	* @see MPU9150_RA_WHO_AM_I
JojoS	0:ab00d9bcd00d	2705	* @see MPU9150_WHO_AM_I_BIT
JojoS	0:ab00d9bcd00d	2706	* @see MPU9150_WHO_AM_I_LENGTH
JojoS	0:ab00d9bcd00d	2707	*/
JojoS	0:ab00d9bcd00d	2708	uint8_t MPU9150::getDeviceID() {
JojoS	0:ab00d9bcd00d	2709	i2Cdev.readBits(devAddr, MPU9150_RA_WHO_AM_I, MPU9150_WHO_AM_I_BIT, MPU9150_WHO_AM_I_LENGTH, buffer);
JojoS	0:ab00d9bcd00d	2710	return buffer[0];
JojoS	0:ab00d9bcd00d	2711	}
JojoS	0:ab00d9bcd00d	2712	/** Set Device ID.
JojoS	0:ab00d9bcd00d	2713	* Write a new ID into the WHO_AM_I register (no idea why this should ever be
JojoS	0:ab00d9bcd00d	2714	* necessary though).
JojoS	0:ab00d9bcd00d	2715	* @param id New device ID to set.
JojoS	0:ab00d9bcd00d	2716	* @see getDeviceID()
JojoS	0:ab00d9bcd00d	2717	* @see MPU9150_RA_WHO_AM_I
JojoS	0:ab00d9bcd00d	2718	* @see MPU9150_WHO_AM_I_BIT
JojoS	0:ab00d9bcd00d	2719	* @see MPU9150_WHO_AM_I_LENGTH
JojoS	0:ab00d9bcd00d	2720	*/
JojoS	0:ab00d9bcd00d	2721	void MPU9150::setDeviceID(uint8_t id) {
JojoS	0:ab00d9bcd00d	2722	i2Cdev.writeBits(devAddr, MPU9150_RA_WHO_AM_I, MPU9150_WHO_AM_I_BIT, MPU9150_WHO_AM_I_LENGTH, id);
JojoS	0:ab00d9bcd00d	2723	}
JojoS	0:ab00d9bcd00d	2724
JojoS	0:ab00d9bcd00d	2725	// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
JojoS	0:ab00d9bcd00d	2726
JojoS	0:ab00d9bcd00d	2727	// XG_OFFS_TC register
JojoS	0:ab00d9bcd00d	2728
JojoS	0:ab00d9bcd00d	2729	uint8_t MPU9150::getOTPBankValid() {
JojoS	0:ab00d9bcd00d	2730	i2Cdev.readBit(devAddr, MPU9150_RA_XG_OFFS_TC, MPU9150_TC_OTP_BNK_VLD_BIT, buffer);
JojoS	0:ab00d9bcd00d	2731	return buffer[0];
JojoS	0:ab00d9bcd00d	2732	}
JojoS	0:ab00d9bcd00d	2733	void MPU9150::setOTPBankValid(bool enabled) {
JojoS	0:ab00d9bcd00d	2734	i2Cdev.writeBit(devAddr, MPU9150_RA_XG_OFFS_TC, MPU9150_TC_OTP_BNK_VLD_BIT, enabled);
JojoS	0:ab00d9bcd00d	2735	}
JojoS	0:ab00d9bcd00d	2736	int8_t MPU9150::getXGyroOffsetTC() {
JojoS	0:ab00d9bcd00d	2737	i2Cdev.readBits(devAddr, MPU9150_RA_XG_OFFS_TC, MPU9150_TC_OFFSET_BIT, MPU9150_TC_OFFSET_LENGTH, buffer);
JojoS	0:ab00d9bcd00d	2738	return buffer[0];
JojoS	0:ab00d9bcd00d	2739	}
JojoS	0:ab00d9bcd00d	2740	void MPU9150::setXGyroOffsetTC(int8_t offset) {
JojoS	0:ab00d9bcd00d	2741	i2Cdev.writeBits(devAddr, MPU9150_RA_XG_OFFS_TC, MPU9150_TC_OFFSET_BIT, MPU9150_TC_OFFSET_LENGTH, offset);
JojoS	0:ab00d9bcd00d	2742	}
JojoS	0:ab00d9bcd00d	2743
JojoS	0:ab00d9bcd00d	2744	// YG_OFFS_TC register
JojoS	0:ab00d9bcd00d	2745
JojoS	0:ab00d9bcd00d	2746	int8_t MPU9150::getYGyroOffsetTC() {
JojoS	0:ab00d9bcd00d	2747	i2Cdev.readBits(devAddr, MPU9150_RA_YG_OFFS_TC, MPU9150_TC_OFFSET_BIT, MPU9150_TC_OFFSET_LENGTH, buffer);
JojoS	0:ab00d9bcd00d	2748	return buffer[0];
JojoS	0:ab00d9bcd00d	2749	}
JojoS	0:ab00d9bcd00d	2750	void MPU9150::setYGyroOffsetTC(int8_t offset) {
JojoS	0:ab00d9bcd00d	2751	i2Cdev.writeBits(devAddr, MPU9150_RA_YG_OFFS_TC, MPU9150_TC_OFFSET_BIT, MPU9150_TC_OFFSET_LENGTH, offset);
JojoS	0:ab00d9bcd00d	2752	}
JojoS	0:ab00d9bcd00d	2753
JojoS	0:ab00d9bcd00d	2754	// ZG_OFFS_TC register
JojoS	0:ab00d9bcd00d	2755
JojoS	0:ab00d9bcd00d	2756	int8_t MPU9150::getZGyroOffsetTC() {
JojoS	0:ab00d9bcd00d	2757	i2Cdev.readBits(devAddr, MPU9150_RA_ZG_OFFS_TC, MPU9150_TC_OFFSET_BIT, MPU9150_TC_OFFSET_LENGTH, buffer);
JojoS	0:ab00d9bcd00d	2758	return buffer[0];
JojoS	0:ab00d9bcd00d	2759	}
JojoS	0:ab00d9bcd00d	2760	void MPU9150::setZGyroOffsetTC(int8_t offset) {
JojoS	0:ab00d9bcd00d	2761	i2Cdev.writeBits(devAddr, MPU9150_RA_ZG_OFFS_TC, MPU9150_TC_OFFSET_BIT, MPU9150_TC_OFFSET_LENGTH, offset);
JojoS	0:ab00d9bcd00d	2762	}
JojoS	0:ab00d9bcd00d	2763
JojoS	0:ab00d9bcd00d	2764	// X_FINE_GAIN register
JojoS	0:ab00d9bcd00d	2765
JojoS	0:ab00d9bcd00d	2766	int8_t MPU9150::getXFineGain() {
JojoS	0:ab00d9bcd00d	2767	i2Cdev.readByte(devAddr, MPU9150_RA_X_FINE_GAIN, buffer);
JojoS	0:ab00d9bcd00d	2768	return buffer[0];
JojoS	0:ab00d9bcd00d	2769	}
JojoS	0:ab00d9bcd00d	2770	void MPU9150::setXFineGain(int8_t gain) {
JojoS	0:ab00d9bcd00d	2771	i2Cdev.writeByte(devAddr, MPU9150_RA_X_FINE_GAIN, gain);
JojoS	0:ab00d9bcd00d	2772	}
JojoS	0:ab00d9bcd00d	2773
JojoS	0:ab00d9bcd00d	2774	// Y_FINE_GAIN register
JojoS	0:ab00d9bcd00d	2775
JojoS	0:ab00d9bcd00d	2776	int8_t MPU9150::getYFineGain() {
JojoS	0:ab00d9bcd00d	2777	i2Cdev.readByte(devAddr, MPU9150_RA_Y_FINE_GAIN, buffer);
JojoS	0:ab00d9bcd00d	2778	return buffer[0];
JojoS	0:ab00d9bcd00d	2779	}
JojoS	0:ab00d9bcd00d	2780	void MPU9150::setYFineGain(int8_t gain) {
JojoS	0:ab00d9bcd00d	2781	i2Cdev.writeByte(devAddr, MPU9150_RA_Y_FINE_GAIN, gain);
JojoS	0:ab00d9bcd00d	2782	}
JojoS	0:ab00d9bcd00d	2783
JojoS	0:ab00d9bcd00d	2784	// Z_FINE_GAIN register
JojoS	0:ab00d9bcd00d	2785
JojoS	0:ab00d9bcd00d	2786	int8_t MPU9150::getZFineGain() {
JojoS	0:ab00d9bcd00d	2787	i2Cdev.readByte(devAddr, MPU9150_RA_Z_FINE_GAIN, buffer);
JojoS	0:ab00d9bcd00d	2788	return buffer[0];
JojoS	0:ab00d9bcd00d	2789	}
JojoS	0:ab00d9bcd00d	2790	void MPU9150::setZFineGain(int8_t gain) {
JojoS	0:ab00d9bcd00d	2791	i2Cdev.writeByte(devAddr, MPU9150_RA_Z_FINE_GAIN, gain);
JojoS	0:ab00d9bcd00d	2792	}
JojoS	0:ab00d9bcd00d	2793
JojoS	0:ab00d9bcd00d	2794	// XA_OFFS_* registers
JojoS	0:ab00d9bcd00d	2795
JojoS	0:ab00d9bcd00d	2796	int16_t MPU9150::getXAccelOffset() {
JojoS	0:ab00d9bcd00d	2797	i2Cdev.readBytes(devAddr, MPU9150_RA_XA_OFFS_H, 2, buffer);
JojoS	0:ab00d9bcd00d	2798	return (((int16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	2799	}
JojoS	0:ab00d9bcd00d	2800	void MPU9150::setXAccelOffset(int16_t offset) {
JojoS	0:ab00d9bcd00d	2801	i2Cdev.writeWord(devAddr, MPU9150_RA_XA_OFFS_H, offset);
JojoS	0:ab00d9bcd00d	2802	}
JojoS	0:ab00d9bcd00d	2803
JojoS	0:ab00d9bcd00d	2804	// YA_OFFS_* register
JojoS	0:ab00d9bcd00d	2805
JojoS	0:ab00d9bcd00d	2806	int16_t MPU9150::getYAccelOffset() {
JojoS	0:ab00d9bcd00d	2807	i2Cdev.readBytes(devAddr, MPU9150_RA_YA_OFFS_H, 2, buffer);
JojoS	0:ab00d9bcd00d	2808	return (((int16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	2809	}
JojoS	0:ab00d9bcd00d	2810	void MPU9150::setYAccelOffset(int16_t offset) {
JojoS	0:ab00d9bcd00d	2811	i2Cdev.writeWord(devAddr, MPU9150_RA_YA_OFFS_H, offset);
JojoS	0:ab00d9bcd00d	2812	}
JojoS	0:ab00d9bcd00d	2813
JojoS	0:ab00d9bcd00d	2814	// ZA_OFFS_* register
JojoS	0:ab00d9bcd00d	2815
JojoS	0:ab00d9bcd00d	2816	int16_t MPU9150::getZAccelOffset() {
JojoS	0:ab00d9bcd00d	2817	i2Cdev.readBytes(devAddr, MPU9150_RA_ZA_OFFS_H, 2, buffer);
JojoS	0:ab00d9bcd00d	2818	return (((int16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	2819	}
JojoS	0:ab00d9bcd00d	2820	void MPU9150::setZAccelOffset(int16_t offset) {
JojoS	0:ab00d9bcd00d	2821	i2Cdev.writeWord(devAddr, MPU9150_RA_ZA_OFFS_H, offset);
JojoS	0:ab00d9bcd00d	2822	}
JojoS	0:ab00d9bcd00d	2823
JojoS	0:ab00d9bcd00d	2824	// XG_OFFS_USR* registers
JojoS	0:ab00d9bcd00d	2825
JojoS	0:ab00d9bcd00d	2826	int16_t MPU9150::getXGyroOffset() {
JojoS	0:ab00d9bcd00d	2827	i2Cdev.readBytes(devAddr, MPU9150_RA_XG_OFFS_USRH, 2, buffer);
JojoS	0:ab00d9bcd00d	2828	return (((int16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	2829	}
JojoS	0:ab00d9bcd00d	2830	void MPU9150::setXGyroOffset(int16_t offset) {
JojoS	0:ab00d9bcd00d	2831	i2Cdev.writeWord(devAddr, MPU9150_RA_XG_OFFS_USRH, offset);
JojoS	0:ab00d9bcd00d	2832	}
JojoS	0:ab00d9bcd00d	2833
JojoS	0:ab00d9bcd00d	2834	// YG_OFFS_USR* register
JojoS	0:ab00d9bcd00d	2835
JojoS	0:ab00d9bcd00d	2836	int16_t MPU9150::getYGyroOffset() {
JojoS	0:ab00d9bcd00d	2837	i2Cdev.readBytes(devAddr, MPU9150_RA_YG_OFFS_USRH, 2, buffer);
JojoS	0:ab00d9bcd00d	2838	return (((int16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	2839	}
JojoS	0:ab00d9bcd00d	2840	void MPU9150::setYGyroOffset(int16_t offset) {
JojoS	0:ab00d9bcd00d	2841	i2Cdev.writeWord(devAddr, MPU9150_RA_YG_OFFS_USRH, offset);
JojoS	0:ab00d9bcd00d	2842	}
JojoS	0:ab00d9bcd00d	2843
JojoS	0:ab00d9bcd00d	2844	// ZG_OFFS_USR* register
JojoS	0:ab00d9bcd00d	2845
JojoS	0:ab00d9bcd00d	2846	int16_t MPU9150::getZGyroOffset() {
JojoS	0:ab00d9bcd00d	2847	i2Cdev.readBytes(devAddr, MPU9150_RA_ZG_OFFS_USRH, 2, buffer);
JojoS	0:ab00d9bcd00d	2848	return (((int16_t)buffer[0]) << 8) \| buffer[1];
JojoS	0:ab00d9bcd00d	2849	}
JojoS	0:ab00d9bcd00d	2850	void MPU9150::setZGyroOffset(int16_t offset) {
JojoS	0:ab00d9bcd00d	2851	i2Cdev.writeWord(devAddr, MPU9150_RA_ZG_OFFS_USRH, offset);
JojoS	0:ab00d9bcd00d	2852	}
JojoS	0:ab00d9bcd00d	2853
JojoS	0:ab00d9bcd00d	2854	// INT_ENABLE register (DMP functions)
JojoS	0:ab00d9bcd00d	2855
JojoS	0:ab00d9bcd00d	2856	bool MPU9150::getIntPLLReadyEnabled() {
JojoS	0:ab00d9bcd00d	2857	i2Cdev.readBit(devAddr, MPU9150_RA_INT_ENABLE, MPU9150_INTERRUPT_PLL_RDY_INT_BIT, buffer);
JojoS	0:ab00d9bcd00d	2858	return buffer[0];
JojoS	0:ab00d9bcd00d	2859	}
JojoS	0:ab00d9bcd00d	2860	void MPU9150::setIntPLLReadyEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	2861	i2Cdev.writeBit(devAddr, MPU9150_RA_INT_ENABLE, MPU9150_INTERRUPT_PLL_RDY_INT_BIT, enabled);
JojoS	0:ab00d9bcd00d	2862	}
JojoS	0:ab00d9bcd00d	2863	bool MPU9150::getIntDMPEnabled() {
JojoS	0:ab00d9bcd00d	2864	i2Cdev.readBit(devAddr, MPU9150_RA_INT_ENABLE, MPU9150_INTERRUPT_DMP_INT_BIT, buffer);
JojoS	0:ab00d9bcd00d	2865	return buffer[0];
JojoS	0:ab00d9bcd00d	2866	}
JojoS	0:ab00d9bcd00d	2867	void MPU9150::setIntDMPEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	2868	i2Cdev.writeBit(devAddr, MPU9150_RA_INT_ENABLE, MPU9150_INTERRUPT_DMP_INT_BIT, enabled);
JojoS	0:ab00d9bcd00d	2869	}
JojoS	0:ab00d9bcd00d	2870
JojoS	0:ab00d9bcd00d	2871	// DMP_INT_STATUS
JojoS	0:ab00d9bcd00d	2872
JojoS	0:ab00d9bcd00d	2873	bool MPU9150::getDMPInt5Status() {
JojoS	0:ab00d9bcd00d	2874	i2Cdev.readBit(devAddr, MPU9150_RA_DMP_INT_STATUS, MPU9150_DMPINT_5_BIT, buffer);
JojoS	0:ab00d9bcd00d	2875	return buffer[0];
JojoS	0:ab00d9bcd00d	2876	}
JojoS	0:ab00d9bcd00d	2877	bool MPU9150::getDMPInt4Status() {
JojoS	0:ab00d9bcd00d	2878	i2Cdev.readBit(devAddr, MPU9150_RA_DMP_INT_STATUS, MPU9150_DMPINT_4_BIT, buffer);
JojoS	0:ab00d9bcd00d	2879	return buffer[0];
JojoS	0:ab00d9bcd00d	2880	}
JojoS	0:ab00d9bcd00d	2881	bool MPU9150::getDMPInt3Status() {
JojoS	0:ab00d9bcd00d	2882	i2Cdev.readBit(devAddr, MPU9150_RA_DMP_INT_STATUS, MPU9150_DMPINT_3_BIT, buffer);
JojoS	0:ab00d9bcd00d	2883	return buffer[0];
JojoS	0:ab00d9bcd00d	2884	}
JojoS	0:ab00d9bcd00d	2885	bool MPU9150::getDMPInt2Status() {
JojoS	0:ab00d9bcd00d	2886	i2Cdev.readBit(devAddr, MPU9150_RA_DMP_INT_STATUS, MPU9150_DMPINT_2_BIT, buffer);
JojoS	0:ab00d9bcd00d	2887	return buffer[0];
JojoS	0:ab00d9bcd00d	2888	}
JojoS	0:ab00d9bcd00d	2889	bool MPU9150::getDMPInt1Status() {
JojoS	0:ab00d9bcd00d	2890	i2Cdev.readBit(devAddr, MPU9150_RA_DMP_INT_STATUS, MPU9150_DMPINT_1_BIT, buffer);
JojoS	0:ab00d9bcd00d	2891	return buffer[0];
JojoS	0:ab00d9bcd00d	2892	}
JojoS	0:ab00d9bcd00d	2893	bool MPU9150::getDMPInt0Status() {
JojoS	0:ab00d9bcd00d	2894	i2Cdev.readBit(devAddr, MPU9150_RA_DMP_INT_STATUS, MPU9150_DMPINT_0_BIT, buffer);
JojoS	0:ab00d9bcd00d	2895	return buffer[0];
JojoS	0:ab00d9bcd00d	2896	}
JojoS	0:ab00d9bcd00d	2897
JojoS	0:ab00d9bcd00d	2898	// INT_STATUS register (DMP functions)
JojoS	0:ab00d9bcd00d	2899
JojoS	0:ab00d9bcd00d	2900	bool MPU9150::getIntPLLReadyStatus() {
JojoS	0:ab00d9bcd00d	2901	i2Cdev.readBit(devAddr, MPU9150_RA_INT_STATUS, MPU9150_INTERRUPT_PLL_RDY_INT_BIT, buffer);
JojoS	0:ab00d9bcd00d	2902	return buffer[0];
JojoS	0:ab00d9bcd00d	2903	}
JojoS	0:ab00d9bcd00d	2904	bool MPU9150::getIntDMPStatus() {
JojoS	0:ab00d9bcd00d	2905	i2Cdev.readBit(devAddr, MPU9150_RA_INT_STATUS, MPU9150_INTERRUPT_DMP_INT_BIT, buffer);
JojoS	0:ab00d9bcd00d	2906	return buffer[0];
JojoS	0:ab00d9bcd00d	2907	}
JojoS	0:ab00d9bcd00d	2908
JojoS	0:ab00d9bcd00d	2909	// USER_CTRL register (DMP functions)
JojoS	0:ab00d9bcd00d	2910
JojoS	0:ab00d9bcd00d	2911	bool MPU9150::getDMPEnabled() {
JojoS	0:ab00d9bcd00d	2912	i2Cdev.readBit(devAddr, MPU9150_RA_USER_CTRL, MPU9150_USERCTRL_DMP_EN_BIT, buffer);
JojoS	0:ab00d9bcd00d	2913	return buffer[0];
JojoS	0:ab00d9bcd00d	2914	}
JojoS	0:ab00d9bcd00d	2915	void MPU9150::setDMPEnabled(bool enabled) {
JojoS	0:ab00d9bcd00d	2916	i2Cdev.writeBit(devAddr, MPU9150_RA_USER_CTRL, MPU9150_USERCTRL_DMP_EN_BIT, enabled);
JojoS	0:ab00d9bcd00d	2917	}
JojoS	0:ab00d9bcd00d	2918	void MPU9150::resetDMP() {
JojoS	0:ab00d9bcd00d	2919	i2Cdev.writeBit(devAddr, MPU9150_RA_USER_CTRL, MPU9150_USERCTRL_DMP_RESET_BIT, true);
JojoS	0:ab00d9bcd00d	2920	}
JojoS	0:ab00d9bcd00d	2921
JojoS	0:ab00d9bcd00d	2922	// BANK_SEL register
JojoS	0:ab00d9bcd00d	2923
JojoS	0:ab00d9bcd00d	2924	void MPU9150::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) {
JojoS	0:ab00d9bcd00d	2925	bank &= 0x1F;
JojoS	0:ab00d9bcd00d	2926	if (userBank) bank \|= 0x20;
JojoS	0:ab00d9bcd00d	2927	if (prefetchEnabled) bank \|= 0x40;
JojoS	0:ab00d9bcd00d	2928	i2Cdev.writeByte(devAddr, MPU9150_RA_BANK_SEL, bank);
JojoS	0:ab00d9bcd00d	2929	}
JojoS	0:ab00d9bcd00d	2930
JojoS	0:ab00d9bcd00d	2931	// MEM_START_ADDR register
JojoS	0:ab00d9bcd00d	2932
JojoS	0:ab00d9bcd00d	2933	void MPU9150::setMemoryStartAddress(uint8_t address) {
JojoS	0:ab00d9bcd00d	2934	i2Cdev.writeByte(devAddr, MPU9150_RA_MEM_START_ADDR, address);
JojoS	0:ab00d9bcd00d	2935	}
JojoS	0:ab00d9bcd00d	2936
JojoS	0:ab00d9bcd00d	2937	// MEM_R_W register
JojoS	0:ab00d9bcd00d	2938
JojoS	0:ab00d9bcd00d	2939	uint8_t MPU9150::readMemoryByte() {
JojoS	0:ab00d9bcd00d	2940	i2Cdev.readByte(devAddr, MPU9150_RA_MEM_R_W, buffer);
JojoS	0:ab00d9bcd00d	2941	return buffer[0];
JojoS	0:ab00d9bcd00d	2942	}
JojoS	0:ab00d9bcd00d	2943	void MPU9150::writeMemoryByte(uint8_t data) {
JojoS	0:ab00d9bcd00d	2944	i2Cdev.writeByte(devAddr, MPU9150_RA_MEM_R_W, data);
JojoS	0:ab00d9bcd00d	2945	}
JojoS	0:ab00d9bcd00d	2946	void MPU9150::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) {
JojoS	0:ab00d9bcd00d	2947	setMemoryBank(bank);
JojoS	0:ab00d9bcd00d	2948	setMemoryStartAddress(address);
JojoS	0:ab00d9bcd00d	2949	uint8_t chunkSize;
JojoS	0:ab00d9bcd00d	2950	for (uint16_t i = 0; i < dataSize;) {
JojoS	0:ab00d9bcd00d	2951	// determine correct chunk size according to bank position and data size
JojoS	0:ab00d9bcd00d	2952	chunkSize = MPU9150_DMP_MEMORY_CHUNK_SIZE;
JojoS	0:ab00d9bcd00d	2953
JojoS	0:ab00d9bcd00d	2954	// make sure we don't go past the data size
JojoS	0:ab00d9bcd00d	2955	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
JojoS	0:ab00d9bcd00d	2956
JojoS	0:ab00d9bcd00d	2957	// make sure this chunk doesn't go past the bank boundary (256 bytes)
JojoS	0:ab00d9bcd00d	2958	if (chunkSize > 256 - address) chunkSize = 256 - address;
JojoS	0:ab00d9bcd00d	2959
JojoS	0:ab00d9bcd00d	2960	// read the chunk of data as specified
JojoS	0:ab00d9bcd00d	2961	i2Cdev.readBytes(devAddr, MPU9150_RA_MEM_R_W, chunkSize, data + i);
JojoS	0:ab00d9bcd00d	2962
JojoS	0:ab00d9bcd00d	2963	// increase byte index by [chunkSize]
JojoS	0:ab00d9bcd00d	2964	i += chunkSize;
JojoS	0:ab00d9bcd00d	2965
JojoS	0:ab00d9bcd00d	2966	// uint8_t automatically wraps to 0 at 256
JojoS	0:ab00d9bcd00d	2967	address += chunkSize;
JojoS	0:ab00d9bcd00d	2968
JojoS	0:ab00d9bcd00d	2969	// if we aren't done, update bank (if necessary) and address
JojoS	0:ab00d9bcd00d	2970	if (i < dataSize) {
JojoS	0:ab00d9bcd00d	2971	if (address == 0) bank++;
JojoS	0:ab00d9bcd00d	2972	setMemoryBank(bank);
JojoS	0:ab00d9bcd00d	2973	setMemoryStartAddress(address);
JojoS	0:ab00d9bcd00d	2974	}
JojoS	0:ab00d9bcd00d	2975	}
JojoS	0:ab00d9bcd00d	2976	}
JojoS	0:ab00d9bcd00d	2977	bool MPU9150::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem) {
JojoS	0:ab00d9bcd00d	2978	setMemoryBank(bank);
JojoS	0:ab00d9bcd00d	2979	setMemoryStartAddress(address);
JojoS	0:ab00d9bcd00d	2980	uint8_t chunkSize;
JojoS	0:ab00d9bcd00d	2981	uint8_t *verifyBuffer=0;
JojoS	0:ab00d9bcd00d	2982	uint8_t *progBuffer=0;
JojoS	0:ab00d9bcd00d	2983	uint16_t i;
JojoS	0:ab00d9bcd00d	2984	uint8_t j;
JojoS	0:ab00d9bcd00d	2985	if (verify) verifyBuffer = (uint8_t *)malloc(MPU9150_DMP_MEMORY_CHUNK_SIZE);
JojoS	0:ab00d9bcd00d	2986	if (useProgMem) progBuffer = (uint8_t *)malloc(MPU9150_DMP_MEMORY_CHUNK_SIZE);
JojoS	0:ab00d9bcd00d	2987	for (i = 0; i < dataSize;) {
JojoS	0:ab00d9bcd00d	2988	// determine correct chunk size according to bank position and data size
JojoS	0:ab00d9bcd00d	2989	chunkSize = MPU9150_DMP_MEMORY_CHUNK_SIZE;
JojoS	0:ab00d9bcd00d	2990
JojoS	0:ab00d9bcd00d	2991	// make sure we don't go past the data size
JojoS	0:ab00d9bcd00d	2992	if (i + chunkSize > dataSize) chunkSize = dataSize - i;
JojoS	0:ab00d9bcd00d	2993
JojoS	0:ab00d9bcd00d	2994	// make sure this chunk doesn't go past the bank boundary (256 bytes)
JojoS	0:ab00d9bcd00d	2995	if (chunkSize > 256 - address) chunkSize = 256 - address;
JojoS	0:ab00d9bcd00d	2996
JojoS	0:ab00d9bcd00d	2997	if (useProgMem) {
JojoS	0:ab00d9bcd00d	2998	// write the chunk of data as specified
JojoS	0:ab00d9bcd00d	2999	for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j);
JojoS	0:ab00d9bcd00d	3000	} else {
JojoS	0:ab00d9bcd00d	3001	// write the chunk of data as specified
JojoS	0:ab00d9bcd00d	3002	progBuffer = (uint8_t *)data + i;
JojoS	0:ab00d9bcd00d	3003	}
JojoS	0:ab00d9bcd00d	3004
JojoS	0:ab00d9bcd00d	3005	i2Cdev.writeBytes(devAddr, MPU9150_RA_MEM_R_W, chunkSize, progBuffer);
JojoS	0:ab00d9bcd00d	3006
JojoS	0:ab00d9bcd00d	3007	// verify data if needed
JojoS	0:ab00d9bcd00d	3008	if (verify && verifyBuffer) {
JojoS	0:ab00d9bcd00d	3009	setMemoryBank(bank);
JojoS	0:ab00d9bcd00d	3010	setMemoryStartAddress(address);
JojoS	0:ab00d9bcd00d	3011	i2Cdev.readBytes(devAddr, MPU9150_RA_MEM_R_W, chunkSize, verifyBuffer);
JojoS	0:ab00d9bcd00d	3012	if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
JojoS	0:ab00d9bcd00d	3013	/*Serial.print("Block write verification error, bank ");
JojoS	0:ab00d9bcd00d	3014	Serial.print(bank, DEC);
JojoS	0:ab00d9bcd00d	3015	Serial.print(", address ");
JojoS	0:ab00d9bcd00d	3016	Serial.print(address, DEC);
JojoS	0:ab00d9bcd00d	3017	Serial.print("!\nExpected:");
JojoS	0:ab00d9bcd00d	3018	for (j = 0; j < chunkSize; j++) {
JojoS	0:ab00d9bcd00d	3019	Serial.print(" 0x");
JojoS	0:ab00d9bcd00d	3020	if (progBuffer[j] < 16) Serial.print("0");
JojoS	0:ab00d9bcd00d	3021	Serial.print(progBuffer[j], HEX);
JojoS	0:ab00d9bcd00d	3022	}
JojoS	0:ab00d9bcd00d	3023	Serial.print("\nReceived:");
JojoS	0:ab00d9bcd00d	3024	for (uint8_t j = 0; j < chunkSize; j++) {
JojoS	0:ab00d9bcd00d	3025	Serial.print(" 0x");
JojoS	0:ab00d9bcd00d	3026	if (verifyBuffer[i + j] < 16) Serial.print("0");
JojoS	0:ab00d9bcd00d	3027	Serial.print(verifyBuffer[i + j], HEX);
JojoS	0:ab00d9bcd00d	3028	}
JojoS	0:ab00d9bcd00d	3029	Serial.print("\n");*/
JojoS	0:ab00d9bcd00d	3030	free(verifyBuffer);
JojoS	0:ab00d9bcd00d	3031	if (useProgMem) free(progBuffer);
JojoS	0:ab00d9bcd00d	3032	return false; // uh oh.
JojoS	0:ab00d9bcd00d	3033	}
JojoS	0:ab00d9bcd00d	3034	}
JojoS	0:ab00d9bcd00d	3035
JojoS	0:ab00d9bcd00d	3036	// increase byte index by [chunkSize]
JojoS	0:ab00d9bcd00d	3037	i += chunkSize;
JojoS	0:ab00d9bcd00d	3038
JojoS	0:ab00d9bcd00d	3039	// uint8_t automatically wraps to 0 at 256
JojoS	0:ab00d9bcd00d	3040	address += chunkSize;
JojoS	0:ab00d9bcd00d	3041
JojoS	0:ab00d9bcd00d	3042	// if we aren't done, update bank (if necessary) and address
JojoS	0:ab00d9bcd00d	3043	if (i < dataSize) {
JojoS	0:ab00d9bcd00d	3044	if (address == 0) bank++;
JojoS	0:ab00d9bcd00d	3045	setMemoryBank(bank);
JojoS	0:ab00d9bcd00d	3046	setMemoryStartAddress(address);
JojoS	0:ab00d9bcd00d	3047	}
JojoS	0:ab00d9bcd00d	3048	}
JojoS	0:ab00d9bcd00d	3049	if (verify) free(verifyBuffer);
JojoS	0:ab00d9bcd00d	3050	if (useProgMem) free(progBuffer);
JojoS	0:ab00d9bcd00d	3051	return true;
JojoS	0:ab00d9bcd00d	3052	}
JojoS	0:ab00d9bcd00d	3053	bool MPU9150::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
JojoS	0:ab00d9bcd00d	3054	return writeMemoryBlock(data, dataSize, bank, address, verify, true);
JojoS	0:ab00d9bcd00d	3055	}
JojoS	0:ab00d9bcd00d	3056	bool MPU9150::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem) {
JojoS	0:ab00d9bcd00d	3057	uint8_t *progBuffer=0, success, special;
JojoS	0:ab00d9bcd00d	3058	uint16_t i, j;
JojoS	0:ab00d9bcd00d	3059	if (useProgMem) {
JojoS	0:ab00d9bcd00d	3060	progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
JojoS	0:ab00d9bcd00d	3061	}
JojoS	0:ab00d9bcd00d	3062
JojoS	0:ab00d9bcd00d	3063	// config set data is a long string of blocks with the following structure:
JojoS	0:ab00d9bcd00d	3064	// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
JojoS	0:ab00d9bcd00d	3065	uint8_t bank, offset, length;
JojoS	0:ab00d9bcd00d	3066	for (i = 0; i < dataSize;) {
JojoS	0:ab00d9bcd00d	3067	if (useProgMem) {
JojoS	0:ab00d9bcd00d	3068	bank = pgm_read_byte(data + i++);
JojoS	0:ab00d9bcd00d	3069	offset = pgm_read_byte(data + i++);
JojoS	0:ab00d9bcd00d	3070	length = pgm_read_byte(data + i++);
JojoS	0:ab00d9bcd00d	3071	} else {
JojoS	0:ab00d9bcd00d	3072	bank = data[i++];
JojoS	0:ab00d9bcd00d	3073	offset = data[i++];
JojoS	0:ab00d9bcd00d	3074	length = data[i++];
JojoS	0:ab00d9bcd00d	3075	}
JojoS	0:ab00d9bcd00d	3076
JojoS	0:ab00d9bcd00d	3077	// write data or perform special action
JojoS	0:ab00d9bcd00d	3078	if (length > 0) {
JojoS	0:ab00d9bcd00d	3079	// regular block of data to write
JojoS	0:ab00d9bcd00d	3080	/*Serial.print("Writing config block to bank ");
JojoS	0:ab00d9bcd00d	3081	Serial.print(bank);
JojoS	0:ab00d9bcd00d	3082	Serial.print(", offset ");
JojoS	0:ab00d9bcd00d	3083	Serial.print(offset);
JojoS	0:ab00d9bcd00d	3084	Serial.print(", length=");
JojoS	0:ab00d9bcd00d	3085	Serial.println(length);*/
JojoS	0:ab00d9bcd00d	3086	if (useProgMem) {
JojoS	0:ab00d9bcd00d	3087	if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length);
JojoS	0:ab00d9bcd00d	3088	for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j);
JojoS	0:ab00d9bcd00d	3089	} else {
JojoS	0:ab00d9bcd00d	3090	progBuffer = (uint8_t *)data + i;
JojoS	0:ab00d9bcd00d	3091	}
JojoS	0:ab00d9bcd00d	3092	success = writeMemoryBlock(progBuffer, length, bank, offset, true);
JojoS	0:ab00d9bcd00d	3093	i += length;
JojoS	0:ab00d9bcd00d	3094	} else {
JojoS	0:ab00d9bcd00d	3095	// special instruction
JojoS	0:ab00d9bcd00d	3096	// NOTE: this kind of behavior (what and when to do certain things)
JojoS	0:ab00d9bcd00d	3097	// is totally undocumented. This code is in here based on observed
JojoS	0:ab00d9bcd00d	3098	// behavior only, and exactly why (or even whether) it has to be here
JojoS	0:ab00d9bcd00d	3099	// is anybody's guess for now.
JojoS	0:ab00d9bcd00d	3100	if (useProgMem) {
JojoS	0:ab00d9bcd00d	3101	special = pgm_read_byte(data + i++);
JojoS	0:ab00d9bcd00d	3102	} else {
JojoS	0:ab00d9bcd00d	3103	special = data[i++];
JojoS	0:ab00d9bcd00d	3104	}
JojoS	0:ab00d9bcd00d	3105	/*Serial.print("Special command code ");
JojoS	0:ab00d9bcd00d	3106	Serial.print(special, HEX);
JojoS	0:ab00d9bcd00d	3107	Serial.println(" found...");*/
JojoS	0:ab00d9bcd00d	3108	if (special == 0x01) {
JojoS	0:ab00d9bcd00d	3109	// enable DMP-related interrupts
JojoS	0:ab00d9bcd00d	3110
JojoS	0:ab00d9bcd00d	3111	//setIntZeroMotionEnabled(true);
JojoS	0:ab00d9bcd00d	3112	//setIntFIFOBufferOverflowEnabled(true);
JojoS	0:ab00d9bcd00d	3113	//setIntDMPEnabled(true);
JojoS	0:ab00d9bcd00d	3114	i2Cdev.writeByte(devAddr, MPU9150_RA_INT_ENABLE, 0x32); // single operation
JojoS	0:ab00d9bcd00d	3115
JojoS	0:ab00d9bcd00d	3116	success = true;
JojoS	0:ab00d9bcd00d	3117	} else {
JojoS	0:ab00d9bcd00d	3118	// unknown special command
JojoS	0:ab00d9bcd00d	3119	success = false;
JojoS	0:ab00d9bcd00d	3120	}
JojoS	0:ab00d9bcd00d	3121	}
JojoS	0:ab00d9bcd00d	3122
JojoS	0:ab00d9bcd00d	3123	if (!success) {
JojoS	0:ab00d9bcd00d	3124	if (useProgMem) free(progBuffer);
JojoS	0:ab00d9bcd00d	3125	return false; // uh oh
JojoS	0:ab00d9bcd00d	3126	}
JojoS	0:ab00d9bcd00d	3127	}
JojoS	0:ab00d9bcd00d	3128	if (useProgMem) free(progBuffer);
JojoS	0:ab00d9bcd00d	3129	return true;
JojoS	0:ab00d9bcd00d	3130	}
JojoS	0:ab00d9bcd00d	3131	bool MPU9150::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) {
JojoS	0:ab00d9bcd00d	3132	return writeDMPConfigurationSet(data, dataSize, true);
JojoS	0:ab00d9bcd00d	3133	}
JojoS	0:ab00d9bcd00d	3134
JojoS	0:ab00d9bcd00d	3135	// DMP_CFG_1 register
JojoS	0:ab00d9bcd00d	3136
JojoS	0:ab00d9bcd00d	3137	uint8_t MPU9150::getDMPConfig1() {
JojoS	0:ab00d9bcd00d	3138	i2Cdev.readByte(devAddr, MPU9150_RA_DMP_CFG_1, buffer);
JojoS	0:ab00d9bcd00d	3139	return buffer[0];
JojoS	0:ab00d9bcd00d	3140	}
JojoS	0:ab00d9bcd00d	3141	void MPU9150::setDMPConfig1(uint8_t config) {
JojoS	0:ab00d9bcd00d	3142	i2Cdev.writeByte(devAddr, MPU9150_RA_DMP_CFG_1, config);
JojoS	0:ab00d9bcd00d	3143	}
JojoS	0:ab00d9bcd00d	3144
JojoS	0:ab00d9bcd00d	3145	// DMP_CFG_2 register
JojoS	0:ab00d9bcd00d	3146
JojoS	0:ab00d9bcd00d	3147	uint8_t MPU9150::getDMPConfig2() {
JojoS	0:ab00d9bcd00d	3148	i2Cdev.readByte(devAddr, MPU9150_RA_DMP_CFG_2, buffer);
JojoS	0:ab00d9bcd00d	3149	return buffer[0];
JojoS	0:ab00d9bcd00d	3150	}
JojoS	0:ab00d9bcd00d	3151	void MPU9150::setDMPConfig2(uint8_t config) {
JojoS	0:ab00d9bcd00d	3152	i2Cdev.writeByte(devAddr, MPU9150_RA_DMP_CFG_2, config);
JojoS	0:ab00d9bcd00d	3153	}

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Type:	Library
Created:	24 Apr 2017
Imports:	66
Forks:	1
Commits:	1
Dependents:	1
Dependencies:	0
Followers:	3

MPU9150.cpp@0:ab00d9bcd00d, 2017-04-24 (annotated)

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