diff --git a/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe-imu/4-labyrinthe-imu.ino b/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe-imu/4-labyrinthe-imu.ino deleted file mode 100644 index 6be7a33..0000000 --- a/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe-imu/4-labyrinthe-imu.ino +++ /dev/null @@ -1,84 +0,0 @@ -#include "Wire.h" -#include "MPU6050.h" - -/****************************************************************************** - * 4-labyrinthe-imu.ino - * @title: Programme pour la carte Arduino de gestion de centrale inertielle (capteur IMU) - * @project: Blender-EduTech - Tutoriel 4 : Labyrinthe à bille - Interfacer avec une carte Arduino par la liaision série - * @lang: fr - * @authors: Philippe Roy - * @copyright: Copyright (C) 2023 Philippe Roy - * @license: GNU GPL - * - ******************************************************************************/ - -/****************************************************************************** - * IMU - I2C - ******************************************************************************/ - -MPU6050 accelgyro; - -int16_t ax, ay, az; -int16_t gx, gy, gz; -int16_t mx, my, mz; -float Axyz[3]; -float roll; -float pitch; -float roll_deg; -float pitch_deg; -String roll_txt; -String pitch_txt; -String serial_msg_int_txt; - -/****************************************************************************** - * Communication serie - ******************************************************************************/ - -String serial_msg = ""; // Message - -/****************************************************************************** - * Initialisation - ******************************************************************************/ - -void setup() { - - // Liaison série - Serial.begin(115200); - - // IMU - Wire.begin(); - accelgyro.initialize(); -} - -/****************************************************************************** - * Boucle principale - ******************************************************************************/ - -void loop() { - - /***** - * Lecture des accélérations - *****/ - - accelgyro.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz); - Axyz[0] = (double) ax / 16384; - Axyz[1] = (double) ay / 16384; - Axyz[2] = (double) az / 16384; - roll = asin(-Axyz[0]); - roll_deg = roll*57.3; - roll_txt = String(roll_deg); - pitch = -asin(Axyz[1]/cos(roll)); // position capteur (X vers la gauche, Y vers l'arriere, Z vers le haut) - pitch_deg = pitch*57.3; - pitch_txt = String(pitch_deg); - - /***** - * IMU : Arduino -> UPBGE - *****/ - - Serial.print(roll_txt); - Serial.print(","); - Serial.print(pitch_txt); - Serial.println(); - -} - diff --git a/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe-imu/I2Cdev.cpp b/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe-imu/I2Cdev.cpp deleted file mode 100755 index 7f52fe0..0000000 --- a/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe-imu/I2Cdev.cpp +++ /dev/null @@ -1,1466 +0,0 @@ -// I2Cdev library collection - Main I2C device class -// Abstracts bit and byte I2C R/W functions into a convenient class -// 6/9/2012 by Jeff Rowberg -// -// Changelog: -// 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire -// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation -// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums) -// 2011-10-03 - added automatic Arduino version detection for ease of use -// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications -// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x) -// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default -// 2011-08-02 - added support for 16-bit registers -// - fixed incorrect Doxygen comments on some methods -// - added timeout value for read operations (thanks mem @ Arduino forums) -// 2011-07-30 - changed read/write function structures to return success or byte counts -// - made all methods static for multi-device memory savings -// 2011-07-28 - initial release - -/* ============================================ - I2Cdev device library code is placed under the MIT license - Copyright (c) 2012 Jeff Rowberg - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. - =============================================== -*/ - -#include "I2Cdev.h" - -#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE - - #ifdef I2CDEV_IMPLEMENTATION_WARNINGS - #if ARDUINO < 100 - #warning Using outdated Arduino IDE with Wire library is functionally limiting. - #warning Arduino IDE v1.0.1+ with I2Cdev Fastwire implementation is recommended. - #warning This I2Cdev implementation does not support: - #warning - Repeated starts conditions - #warning - Timeout detection (some Wire requests block forever) - #elif ARDUINO == 100 - #warning Using outdated Arduino IDE with Wire library is functionally limiting. - #warning Arduino IDE v1.0.1+ with I2Cdev Fastwire implementation is recommended. - #warning This I2Cdev implementation does not support: - #warning - Repeated starts conditions - #warning - Timeout detection (some Wire requests block forever) - #elif ARDUINO > 100 - /* - #warning Using current Arduino IDE with Wire library is functionally limiting. - #warning Arduino IDE v1.0.1+ with I2CDEV_BUILTIN_FASTWIRE implementation is recommended. - #warning This I2Cdev implementation does not support: - #warning - Timeout detection (some Wire requests block forever) - */ - #endif - #endif - -#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE - - #error The I2CDEV_BUILTIN_FASTWIRE implementation is known to be broken right now. Patience, Iago! - -#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE - - #ifdef I2CDEV_IMPLEMENTATION_WARNINGS - #warning Using I2CDEV_BUILTIN_NBWIRE implementation may adversely affect interrupt detection. - #warning This I2Cdev implementation does not support: - #warning - Repeated starts conditions - #endif - - // NBWire implementation based heavily on code by Gene Knight - // Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html - // Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html - TwoWire Wire; - -#endif - -/** Default constructor. -*/ -I2Cdev::I2Cdev() { -} - -/** Read a single bit from an 8-bit device register. - @param devAddr I2C slave device address - @param regAddr Register regAddr to read from - @param bitNum Bit position to read (0-7) - @param data Container for single bit value - @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) - @return Status of read operation (true = success) -*/ -int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t* data, uint16_t timeout) { - uint8_t b; - uint8_t count = readByte(devAddr, regAddr, &b, timeout); - *data = b & (1 << bitNum); - return count; -} - -/** Read a single bit from a 16-bit device register. - @param devAddr I2C slave device address - @param regAddr Register regAddr to read from - @param bitNum Bit position to read (0-15) - @param data Container for single bit value - @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) - @return Status of read operation (true = success) -*/ -int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t* data, uint16_t timeout) { - uint16_t b; - uint8_t count = readWord(devAddr, regAddr, &b, timeout); - *data = b & (1 << bitNum); - return count; -} - -/** Read multiple bits from an 8-bit device register. - @param devAddr I2C slave device address - @param regAddr Register regAddr to read from - @param bitStart First bit position to read (0-7) - @param length Number of bits to read (not more than 8) - @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05) - @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) - @return Status of read operation (true = success) -*/ -int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t* data, - uint16_t timeout) { - // 01101001 read byte - // 76543210 bit numbers - // xxx args: bitStart=4, length=3 - // 010 masked - // -> 010 shifted - uint8_t count, b; - if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) { - uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); - b &= mask; - b >>= (bitStart - length + 1); - *data = b; - } - return count; -} - -/** Read multiple bits from a 16-bit device register. - @param devAddr I2C slave device address - @param regAddr Register regAddr to read from - @param bitStart First bit position to read (0-15) - @param length Number of bits to read (not more than 16) - @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05) - @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) - @return Status of read operation (1 = success, 0 = failure, -1 = timeout) -*/ -int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t* data, - uint16_t timeout) { - // 1101011001101001 read byte - // fedcba9876543210 bit numbers - // xxx args: bitStart=12, length=3 - // 010 masked - // -> 010 shifted - uint8_t count; - uint16_t w; - if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) { - uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1); - w &= mask; - w >>= (bitStart - length + 1); - *data = w; - } - return count; -} - -/** Read single byte from an 8-bit device register. - @param devAddr I2C slave device address - @param regAddr Register regAddr to read from - @param data Container for byte value read from device - @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) - @return Status of read operation (true = success) -*/ -int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t* data, uint16_t timeout) { - return readBytes(devAddr, regAddr, 1, data, timeout); -} - -/** Read single word from a 16-bit device register. - @param devAddr I2C slave device address - @param regAddr Register regAddr to read from - @param data Container for word value read from device - @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) - @return Status of read operation (true = success) -*/ -int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t* data, uint16_t timeout) { - return readWords(devAddr, regAddr, 1, data, timeout); -} - -/** Read multiple bytes from an 8-bit device register. - @param devAddr I2C slave device address - @param regAddr First register regAddr to read from - @param length Number of bytes to read - @param data Buffer to store read data in - @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) - @return Number of bytes read (-1 indicates failure) -*/ -int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data, uint16_t timeout) { - #ifdef I2CDEV_SERIAL_DEBUG - Serial.print("I2C (0x"); - Serial.print(devAddr, HEX); - Serial.print(") reading "); - Serial.print(length, DEC); - Serial.print(" bytes from 0x"); - Serial.print(regAddr, HEX); - Serial.print("..."); - #endif - - int8_t count = 0; - uint32_t t1 = millis(); - - #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE) - - #if (ARDUINO < 100) - // Arduino v00xx (before v1.0), Wire library - - // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in - // smaller chunks instead of all at once - for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.send(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH)); - - for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) { - data[count] = Wire.receive(); - #ifdef I2CDEV_SERIAL_DEBUG - Serial.print(data[count], HEX); - if (count + 1 < length) { - Serial.print(" "); - } - #endif - } - - Wire.endTransmission(); - } - #elif (ARDUINO == 100) - // Arduino v1.0.0, Wire library - // Adds standardized write() and read() stream methods instead of send() and receive() - - // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in - // smaller chunks instead of all at once - for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.write(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH)); - - for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) { - data[count] = Wire.read(); - #ifdef I2CDEV_SERIAL_DEBUG - Serial.print(data[count], HEX); - if (count + 1 < length) { - Serial.print(" "); - } - #endif - } - - Wire.endTransmission(); - } - #elif (ARDUINO > 100) - // Arduino v1.0.1+, Wire library - // Adds official support for repeated start condition, yay! - - // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in - // smaller chunks instead of all at once - for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.write(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH)); - - for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) { - data[count] = Wire.read(); - #ifdef I2CDEV_SERIAL_DEBUG - Serial.print(data[count], HEX); - if (count + 1 < length) { - Serial.print(" "); - } - #endif - } - - Wire.endTransmission(); - } - #endif - - #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) - // Fastwire library (STILL UNDER DEVELOPMENT, NON-FUNCTIONAL!) - - // no loop required for fastwire - uint8_t status = Fastwire::readBuf(devAddr, regAddr, data, length); - if (status == 0) { - count = length; // success - } else { - count = -1; // error - } - - #endif - - // check for timeout - if (timeout > 0 && millis() - t1 >= timeout && count < length) { - count = -1; // timeout - } - - #ifdef I2CDEV_SERIAL_DEBUG - Serial.print(". Done ("); - Serial.print(count, DEC); - Serial.println(" read)."); - #endif - - return count; -} - -/** Read multiple words from a 16-bit device register. - @param devAddr I2C slave device address - @param regAddr First register regAddr to read from - @param length Number of words to read - @param data Buffer to store read data in - @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) - @return Number of words read (0 indicates failure) -*/ -int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data, uint16_t timeout) { - #ifdef I2CDEV_SERIAL_DEBUG - Serial.print("I2C (0x"); - Serial.print(devAddr, HEX); - Serial.print(") reading "); - Serial.print(length, DEC); - Serial.print(" words from 0x"); - Serial.print(regAddr, HEX); - Serial.print("..."); - #endif - - int8_t count = 0; - uint32_t t1 = millis(); - - #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE) - - #if (ARDUINO < 100) - // Arduino v00xx (before v1.0), Wire library - - // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in - // smaller chunks instead of all at once - for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.send(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes - - bool msb = true; // starts with MSB, then LSB - for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { - if (msb) { - // first byte is bits 15-8 (MSb=15) - data[count] = Wire.receive() << 8; - } else { - // second byte is bits 7-0 (LSb=0) - data[count] |= Wire.receive(); - #ifdef I2CDEV_SERIAL_DEBUG - Serial.print(data[count], HEX); - if (count + 1 < length) { - Serial.print(" "); - } - #endif - count++; - } - msb = !msb; - } - - Wire.endTransmission(); - } - #elif (ARDUINO == 100) - // Arduino v1.0.0, Wire library - // Adds standardized write() and read() stream methods instead of send() and receive() - - // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in - // smaller chunks instead of all at once - for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.write(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes - - bool msb = true; // starts with MSB, then LSB - for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { - if (msb) { - // first byte is bits 15-8 (MSb=15) - data[count] = Wire.read() << 8; - } else { - // second byte is bits 7-0 (LSb=0) - data[count] |= Wire.read(); - #ifdef I2CDEV_SERIAL_DEBUG - Serial.print(data[count], HEX); - if (count + 1 < length) { - Serial.print(" "); - } - #endif - count++; - } - msb = !msb; - } - - Wire.endTransmission(); - } - #elif (ARDUINO > 100) - // Arduino v1.0.1+, Wire library - // Adds official support for repeated start condition, yay! - - // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in - // smaller chunks instead of all at once - for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.write(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes - - bool msb = true; // starts with MSB, then LSB - for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { - if (msb) { - // first byte is bits 15-8 (MSb=15) - data[count] = Wire.read() << 8; - } else { - // second byte is bits 7-0 (LSb=0) - data[count] |= Wire.read(); - #ifdef I2CDEV_SERIAL_DEBUG - Serial.print(data[count], HEX); - if (count + 1 < length) { - Serial.print(" "); - } - #endif - count++; - } - msb = !msb; - } - - Wire.endTransmission(); - } - #endif - - #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) - // Fastwire library (STILL UNDER DEVELOPMENT, NON-FUNCTIONAL!) - - // no loop required for fastwire - uint16_t intermediate[(uint8_t)length]; - uint8_t status = Fastwire::readBuf(devAddr, regAddr, (uint8_t*)intermediate, (uint8_t)(length * 2)); - if (status == 0) { - count = length; // success - for (uint8_t i = 0; i < length; i++) { - data[i] = (intermediate[2 * i] << 8) | intermediate[2 * i + 1]; - } - } else { - count = -1; // error - } - - #endif - - if (timeout > 0 && millis() - t1 >= timeout && count < length) { - count = -1; // timeout - } - - #ifdef I2CDEV_SERIAL_DEBUG - Serial.print(". Done ("); - Serial.print(count, DEC); - Serial.println(" read)."); - #endif - - return count; -} - -/** write a single bit in an 8-bit device register. - @param devAddr I2C slave device address - @param regAddr Register regAddr to write to - @param bitNum Bit position to write (0-7) - @param value New bit value to write - @return Status of operation (true = success) -*/ -bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) { - uint8_t b; - readByte(devAddr, regAddr, &b); - b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum)); - return writeByte(devAddr, regAddr, b); -} - -/** write a single bit in a 16-bit device register. - @param devAddr I2C slave device address - @param regAddr Register regAddr to write to - @param bitNum Bit position to write (0-15) - @param value New bit value to write - @return Status of operation (true = success) -*/ -bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) { - uint16_t w; - readWord(devAddr, regAddr, &w); - w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum)); - return writeWord(devAddr, regAddr, w); -} - -/** Write multiple bits in an 8-bit device register. - @param devAddr I2C slave device address - @param regAddr Register regAddr to write to - @param bitStart First bit position to write (0-7) - @param length Number of bits to write (not more than 8) - @param data Right-aligned value to write - @return Status of operation (true = success) -*/ -bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) { - // 010 value to write - // 76543210 bit numbers - // xxx args: bitStart=4, length=3 - // 00011100 mask byte - // 10101111 original value (sample) - // 10100011 original & ~mask - // 10101011 masked | value - uint8_t b; - if (readByte(devAddr, regAddr, &b) != 0) { - uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); - data <<= (bitStart - length + 1); // shift data into correct position - data &= mask; // zero all non-important bits in data - b &= ~(mask); // zero all important bits in existing byte - b |= data; // combine data with existing byte - return writeByte(devAddr, regAddr, b); - } else { - return false; - } -} - -/** Write multiple bits in a 16-bit device register. - @param devAddr I2C slave device address - @param regAddr Register regAddr to write to - @param bitStart First bit position to write (0-15) - @param length Number of bits to write (not more than 16) - @param data Right-aligned value to write - @return Status of operation (true = success) -*/ -bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) { - // 010 value to write - // fedcba9876543210 bit numbers - // xxx args: bitStart=12, length=3 - // 0001110000000000 mask byte - // 1010111110010110 original value (sample) - // 1010001110010110 original & ~mask - // 1010101110010110 masked | value - uint16_t w; - if (readWord(devAddr, regAddr, &w) != 0) { - uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); - data <<= (bitStart - length + 1); // shift data into correct position - data &= mask; // zero all non-important bits in data - w &= ~(mask); // zero all important bits in existing word - w |= data; // combine data with existing word - return writeWord(devAddr, regAddr, w); - } else { - return false; - } -} - -/** Write single byte to an 8-bit device register. - @param devAddr I2C slave device address - @param regAddr Register address to write to - @param data New byte value to write - @return Status of operation (true = success) -*/ -bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) { - return writeBytes(devAddr, regAddr, 1, &data); -} - -/** Write single word to a 16-bit device register. - @param devAddr I2C slave device address - @param regAddr Register address to write to - @param data New word value to write - @return Status of operation (true = success) -*/ -bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) { - return writeWords(devAddr, regAddr, 1, &data); -} - -/** Write multiple bytes to an 8-bit device register. - @param devAddr I2C slave device address - @param regAddr First register address to write to - @param length Number of bytes to write - @param data Buffer to copy new data from - @return Status of operation (true = success) -*/ -bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data) { - #ifdef I2CDEV_SERIAL_DEBUG - Serial.print("I2C (0x"); - Serial.print(devAddr, HEX); - Serial.print(") writing "); - Serial.print(length, DEC); - Serial.print(" bytes to 0x"); - Serial.print(regAddr, HEX); - Serial.print("..."); - #endif - uint8_t status = 0; - #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.beginTransmission(devAddr); - Wire.send((uint8_t) regAddr); // send address - #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) - Wire.beginTransmission(devAddr); - Wire.write((uint8_t) regAddr); // send address - #endif - for (uint8_t i = 0; i < length; i++) { - #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.send((uint8_t) data[i]); - #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) - Wire.write((uint8_t) data[i]); - #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) - status = Fastwire::write(devAddr, regAddr, data[i]); - Serial.println(status); - #endif - #ifdef I2CDEV_SERIAL_DEBUG - Serial.print(data[i], HEX); - if (i + 1 < length) { - Serial.print(" "); - } - #endif - } - #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.endTransmission(); - #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) - status = Wire.endTransmission(); - #endif - #ifdef I2CDEV_SERIAL_DEBUG - Serial.println(". Done."); - #endif - return status == 0; -} - -/** Write multiple words to a 16-bit device register. - @param devAddr I2C slave device address - @param regAddr First register address to write to - @param length Number of words to write - @param data Buffer to copy new data from - @return Status of operation (true = success) -*/ -bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data) { - #ifdef I2CDEV_SERIAL_DEBUG - Serial.print("I2C (0x"); - Serial.print(devAddr, HEX); - Serial.print(") writing "); - Serial.print(length, DEC); - Serial.print(" words to 0x"); - Serial.print(regAddr, HEX); - Serial.print("..."); - #endif - uint8_t status = 0; - #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.beginTransmission(devAddr); - Wire.send(regAddr); // send address - #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) - Wire.beginTransmission(devAddr); - Wire.write(regAddr); // send address - #endif - for (uint8_t i = 0; i < length * 2; i++) { - #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.send((uint8_t)(data[i++] >> 8)); // send MSB - Wire.send((uint8_t)data[i]); // send LSB - #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) - Wire.write((uint8_t)(data[i++] >> 8)); // send MSB - Wire.write((uint8_t)data[i]); // send LSB - #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) - status = Fastwire::write(devAddr, regAddr, (uint8_t)(data[i++] >> 8)); - status = Fastwire::write(devAddr, regAddr + 1, (uint8_t)data[i]); - #endif - #ifdef I2CDEV_SERIAL_DEBUG - Serial.print(data[i], HEX); - if (i + 1 < length) { - Serial.print(" "); - } - #endif - } - #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.endTransmission(); - #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) - status = Wire.endTransmission(); - #endif - #ifdef I2CDEV_SERIAL_DEBUG - Serial.println(". Done."); - #endif - return status == 0; -} - -/** Default timeout value for read operations. - Set this to 0 to disable timeout detection. -*/ -uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT; - -#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE -/* - FastWire 0.2 - This is a library to help faster programs to read I2C devices. - Copyright(C) 2011 Francesco Ferrara - occhiobello at gmail dot com -*/ - -boolean Fastwire::waitInt() { - int l = 250; - while (!(TWCR & (1 << TWINT)) && l-- > 0); - return l > 0; -} - -void Fastwire::setup(int khz, boolean pullup) { - TWCR = 0; - #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__) - // activate internal pull-ups for twi (PORTC bits 4 & 5) - // as per note from atmega8 manual pg167 - if (pullup) { - PORTC |= ((1 << 4) | (1 << 5)); - } else { - PORTC &= ~((1 << 4) | (1 << 5)); - } - #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) - // activate internal pull-ups for twi (PORTC bits 0 & 1) - if (pullup) { - PORTC |= ((1 << 0) | (1 << 1)); - } else { - PORTC &= ~((1 << 0) | (1 << 1)); - } - #else - // activate internal pull-ups for twi (PORTD bits 0 & 1) - // as per note from atmega128 manual pg204 - if (pullup) { - PORTD |= ((1 << 0) | (1 << 1)); - } else { - PORTD &= ~((1 << 0) | (1 << 1)); - } - #endif - - TWSR = 0; // no prescaler => prescaler = 1 - TWBR = ((16000L / khz) - 16) / 2; // change the I2C clock rate - TWCR = 1 << TWEN; // enable twi module, no interrupt -} - -byte Fastwire::write(byte device, byte address, byte value) { - byte twst, retry; - - retry = 2; - do { - TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA); - if (!waitInt()) { - return 1; - } - twst = TWSR & 0xF8; - if (twst != TW_START && twst != TW_REP_START) { - return 2; - } - - TWDR = device & 0xFE; // send device address without read bit (1) - TWCR = (1 << TWINT) | (1 << TWEN); - if (!waitInt()) { - return 3; - } - twst = TWSR & 0xF8; - } while (twst == TW_MT_SLA_NACK && retry-- > 0); - if (twst != TW_MT_SLA_ACK) { - return 4; - } - - TWDR = address; // send data to the previously addressed device - TWCR = (1 << TWINT) | (1 << TWEN); - if (!waitInt()) { - return 5; - } - twst = TWSR & 0xF8; - if (twst != TW_MT_DATA_ACK) { - return 6; - } - - TWDR = value; // send data to the previously addressed device - TWCR = (1 << TWINT) | (1 << TWEN); - if (!waitInt()) { - return 7; - } - twst = TWSR & 0xF8; - if (twst != TW_MT_DATA_ACK) { - return 8; - } - - return 0; -} - -byte Fastwire::readBuf(byte device, byte address, byte* data, byte num) { - byte twst, retry; - - retry = 2; - do { - TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA); - if (!waitInt()) { - return 16; - } - twst = TWSR & 0xF8; - if (twst != TW_START && twst != TW_REP_START) { - return 17; - } - - TWDR = device & 0xfe; // send device address to write - TWCR = (1 << TWINT) | (1 << TWEN); - if (!waitInt()) { - return 18; - } - twst = TWSR & 0xF8; - } while (twst == TW_MT_SLA_NACK && retry-- > 0); - if (twst != TW_MT_SLA_ACK) { - return 19; - } - - TWDR = address; // send data to the previously addressed device - TWCR = (1 << TWINT) | (1 << TWEN); - if (!waitInt()) { - return 20; - } - twst = TWSR & 0xF8; - if (twst != TW_MT_DATA_ACK) { - return 21; - } - - /***/ - - retry = 2; - do { - TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA); - if (!waitInt()) { - return 22; - } - twst = TWSR & 0xF8; - if (twst != TW_START && twst != TW_REP_START) { - return 23; - } - - TWDR = device | 0x01; // send device address with the read bit (1) - TWCR = (1 << TWINT) | (1 << TWEN); - if (!waitInt()) { - return 24; - } - twst = TWSR & 0xF8; - } while (twst == TW_MR_SLA_NACK && retry-- > 0); - if (twst != TW_MR_SLA_ACK) { - return 25; - } - - for (uint8_t i = 0; i < num; i++) { - if (i == num - 1) { - TWCR = (1 << TWINT) | (1 << TWEN); - } else { - TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA); - } - if (!waitInt()) { - return 26; - } - twst = TWSR & 0xF8; - if (twst != TW_MR_DATA_ACK && twst != TW_MR_DATA_NACK) { - return twst; - } - data[i] = TWDR; - } - - return 0; -} -#endif - -#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE -// NBWire implementation based heavily on code by Gene Knight -// Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html -// Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html - -/* - call this version 1.0 - - Offhand, the only funky part that I can think of is in nbrequestFrom, where the buffer - length and index are set *before* the data is actually read. The problem is that these - are variables local to the TwoWire object, and by the time we actually have read the - data, and know what the length actually is, we have no simple access to the object's - variables. The actual bytes read *is* given to the callback function, though. - - The ISR code for a slave receiver is commented out. I don't have that setup, and can't - verify it at this time. Save it for 2.0! - - The handling of the read and write processes here is much like in the demo sketch code: - the process is broken down into sequential functions, where each registers the next as a - callback, essentially. - - For example, for the Read process, twi_read00 just returns if TWI is not yet in a - ready state. When there's another interrupt, and the interface *is* ready, then it - sets up the read, starts it, and registers twi_read01 as the function to call after - the *next* interrupt. twi_read01, then, just returns if the interface is still in a - "reading" state. When the reading is done, it copies the information to the buffer, - cleans up, and calls the user-requested callback function with the actual number of - bytes read. - - The writing is similar. - - Questions, comments and problems can go to Gene@Telobot.com. - - Thumbs Up! - Gene Knight - -*/ - -uint8_t TwoWire::rxBuffer[NBWIRE_BUFFER_LENGTH]; -uint8_t TwoWire::rxBufferIndex = 0; -uint8_t TwoWire::rxBufferLength = 0; - -uint8_t TwoWire::txAddress = 0; -uint8_t TwoWire::txBuffer[NBWIRE_BUFFER_LENGTH]; -uint8_t TwoWire::txBufferIndex = 0; -uint8_t TwoWire::txBufferLength = 0; - -//uint8_t TwoWire::transmitting = 0; -void (*TwoWire::user_onRequest)(void); -void (*TwoWire::user_onReceive)(int); - -static volatile uint8_t twi_transmitting; -static volatile uint8_t twi_state; -static uint8_t twi_slarw; -static volatile uint8_t twi_error; -static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH]; -static volatile uint8_t twi_masterBufferIndex; -static uint8_t twi_masterBufferLength; -static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH]; -static volatile uint8_t twi_rxBufferIndex; -//static volatile uint8_t twi_Interrupt_Continue_Command; -static volatile uint8_t twi_Return_Value; -static volatile uint8_t twi_Done; -void (*twi_cbendTransmissionDone)(int); -void (*twi_cbreadFromDone)(int); - -void twi_init() { - // initialize state - twi_state = TWI_READY; - - // activate internal pull-ups for twi - // as per note from atmega8 manual pg167 - sbi(PORTC, 4); - sbi(PORTC, 5); - - // initialize twi prescaler and bit rate - cbi(TWSR, TWPS0); // TWI Status Register - Prescaler bits - cbi(TWSR, TWPS1); - - /* twi bit rate formula from atmega128 manual pg 204 - SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR)) - note: TWBR should be 10 or higher for master mode - It is 72 for a 16mhz Wiring board with 100kHz TWI */ - - TWBR = ((CPU_FREQ / TWI_FREQ) - 16) / 2; // bitrate register - // enable twi module, acks, and twi interrupt - - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA); - - /* TWEN - TWI Enable Bit - TWIE - TWI Interrupt Enable - TWEA - TWI Enable Acknowledge Bit - TWINT - TWI Interrupt Flag - TWSTA - TWI Start Condition - */ -} - -typedef struct { - uint8_t address; - uint8_t* data; - uint8_t length; - uint8_t wait; - uint8_t i; -} twi_Write_Vars; - -twi_Write_Vars* ptwv = 0; -static void (*fNextInterruptFunction)(void) = 0; - -void twi_Finish(byte bRetVal) { - if (ptwv) { - free(ptwv); - ptwv = 0; - } - twi_Done = 0xFF; - twi_Return_Value = bRetVal; - fNextInterruptFunction = 0; -} - -uint8_t twii_WaitForDone(uint16_t timeout) { - uint32_t endMillis = millis() + timeout; - while (!twi_Done && (timeout == 0 || millis() < endMillis)) { - continue; - } - return twi_Return_Value; -} - -void twii_SetState(uint8_t ucState) { - twi_state = ucState; -} - -void twii_SetError(uint8_t ucError) { - twi_error = ucError ; -} - -void twii_InitBuffer(uint8_t ucPos, uint8_t ucLength) { - twi_masterBufferIndex = 0; - twi_masterBufferLength = ucLength; -} - -void twii_CopyToBuf(uint8_t* pData, uint8_t ucLength) { - uint8_t i; - for (i = 0; i < ucLength; ++i) { - twi_masterBuffer[i] = pData[i]; - } -} - -void twii_CopyFromBuf(uint8_t* pData, uint8_t ucLength) { - uint8_t i; - for (i = 0; i < ucLength; ++i) { - pData[i] = twi_masterBuffer[i]; - } -} - -void twii_SetSlaRW(uint8_t ucSlaRW) { - twi_slarw = ucSlaRW; -} - -void twii_SetStart() { - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); -} - -void twi_write01() { - if (TWI_MTX == twi_state) { - return; // blocking test - } - twi_transmitting = 0 ; - if (twi_error == 0xFF) { - twi_Finish(0); // success - } else if (twi_error == TW_MT_SLA_NACK) { - twi_Finish(2); // error: address send, nack received - } else if (twi_error == TW_MT_DATA_NACK) { - twi_Finish(3); // error: data send, nack received - } else { - twi_Finish(4); // other twi error - } - if (twi_cbendTransmissionDone) { - return twi_cbendTransmissionDone(twi_Return_Value); - } - return; -} - - -void twi_write00() { - if (TWI_READY != twi_state) { - return; // blocking test - } - if (TWI_BUFFER_LENGTH < ptwv -> length) { - twi_Finish(1); // end write with error 1 - return; - } - twi_Done = 0x00; // show as working - twii_SetState(TWI_MTX); // to transmitting - twii_SetError(0xFF); // to No Error - twii_InitBuffer(0, ptwv -> length); // pointer and length - twii_CopyToBuf(ptwv -> data, ptwv -> length); // get the data - twii_SetSlaRW((ptwv -> address << 1) | TW_WRITE); // write command - twii_SetStart(); // start the cycle - fNextInterruptFunction = twi_write01; // next routine - return twi_write01(); -} - -void twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait) { - uint8_t i; - ptwv = (twi_Write_Vars*)malloc(sizeof(twi_Write_Vars)); - ptwv -> address = address; - ptwv -> data = data; - ptwv -> length = length; - ptwv -> wait = wait; - fNextInterruptFunction = twi_write00; - return twi_write00(); -} - -void twi_read01() { - if (TWI_MRX == twi_state) { - return; // blocking test - } - if (twi_masterBufferIndex < ptwv -> length) { - ptwv -> length = twi_masterBufferIndex; - } - twii_CopyFromBuf(ptwv -> data, ptwv -> length); - twi_Finish(ptwv -> length); - if (twi_cbreadFromDone) { - return twi_cbreadFromDone(twi_Return_Value); - } - return; -} - -void twi_read00() { - if (TWI_READY != twi_state) { - return; // blocking test - } - if (TWI_BUFFER_LENGTH < ptwv -> length) { - twi_Finish(0); // error return - } - twi_Done = 0x00; // show as working - twii_SetState(TWI_MRX); // reading - twii_SetError(0xFF); // reset error - twii_InitBuffer(0, ptwv -> length - 1); // init to one less than length - twii_SetSlaRW((ptwv -> address << 1) | TW_READ); // read command - twii_SetStart(); // start cycle - fNextInterruptFunction = twi_read01; - return twi_read01(); -} - -void twi_readFrom(uint8_t address, uint8_t* data, uint8_t length) { - uint8_t i; - - ptwv = (twi_Write_Vars*)malloc(sizeof(twi_Write_Vars)); - ptwv -> address = address; - ptwv -> data = data; - ptwv -> length = length; - fNextInterruptFunction = twi_read00; - return twi_read00(); -} - -void twi_reply(uint8_t ack) { - // transmit master read ready signal, with or without ack - if (ack) { - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA); - } else { - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT); - } -} - -void twi_stop(void) { - // send stop condition - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO); - - // wait for stop condition to be exectued on bus - // TWINT is not set after a stop condition! - while (TWCR & _BV(TWSTO)) { - continue; - } - - // update twi state - twi_state = TWI_READY; -} - -void twi_releaseBus(void) { - // release bus - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT); - - // update twi state - twi_state = TWI_READY; -} - -SIGNAL(TWI_vect) { - switch (TW_STATUS) { - // All Master - case TW_START: // sent start condition - case TW_REP_START: // sent repeated start condition - // copy device address and r/w bit to output register and ack - TWDR = twi_slarw; - twi_reply(1); - break; - - // Master Transmitter - case TW_MT_SLA_ACK: // slave receiver acked address - case TW_MT_DATA_ACK: // slave receiver acked data - // if there is data to send, send it, otherwise stop - if (twi_masterBufferIndex < twi_masterBufferLength) { - // copy data to output register and ack - TWDR = twi_masterBuffer[twi_masterBufferIndex++]; - twi_reply(1); - } else { - twi_stop(); - } - break; - - case TW_MT_SLA_NACK: // address sent, nack received - twi_error = TW_MT_SLA_NACK; - twi_stop(); - break; - - case TW_MT_DATA_NACK: // data sent, nack received - twi_error = TW_MT_DATA_NACK; - twi_stop(); - break; - - case TW_MT_ARB_LOST: // lost bus arbitration - twi_error = TW_MT_ARB_LOST; - twi_releaseBus(); - break; - - // Master Receiver - case TW_MR_DATA_ACK: // data received, ack sent - // put byte into buffer - twi_masterBuffer[twi_masterBufferIndex++] = TWDR; - - case TW_MR_SLA_ACK: // address sent, ack received - // ack if more bytes are expected, otherwise nack - if (twi_masterBufferIndex < twi_masterBufferLength) { - twi_reply(1); - } else { - twi_reply(0); - } - break; - - case TW_MR_DATA_NACK: // data received, nack sent - // put final byte into buffer - twi_masterBuffer[twi_masterBufferIndex++] = TWDR; - - case TW_MR_SLA_NACK: // address sent, nack received - twi_stop(); - break; - - // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case - - // Slave Receiver (NOT IMPLEMENTED YET) - /* - case TW_SR_SLA_ACK: // addressed, returned ack - case TW_SR_GCALL_ACK: // addressed generally, returned ack - case TW_SR_ARB_LOST_SLA_ACK: // lost arbitration, returned ack - case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack - // enter slave receiver mode - twi_state = TWI_SRX; - - // indicate that rx buffer can be overwritten and ack - twi_rxBufferIndex = 0; - twi_reply(1); - break; - - case TW_SR_DATA_ACK: // data received, returned ack - case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack - // if there is still room in the rx buffer - if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) { - // put byte in buffer and ack - twi_rxBuffer[twi_rxBufferIndex++] = TWDR; - twi_reply(1); - } else { - // otherwise nack - twi_reply(0); - } - break; - - case TW_SR_STOP: // stop or repeated start condition received - // put a null char after data if there's room - if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) { - twi_rxBuffer[twi_rxBufferIndex] = 0; - } - - // sends ack and stops interface for clock stretching - twi_stop(); - - // callback to user defined callback - twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex); - - // since we submit rx buffer to "wire" library, we can reset it - twi_rxBufferIndex = 0; - - // ack future responses and leave slave receiver state - twi_releaseBus(); - break; - - case TW_SR_DATA_NACK: // data received, returned nack - case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack - // nack back at master - twi_reply(0); - break; - - // Slave Transmitter - case TW_ST_SLA_ACK: // addressed, returned ack - case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack - // enter slave transmitter mode - twi_state = TWI_STX; - - // ready the tx buffer index for iteration - twi_txBufferIndex = 0; - - // set tx buffer length to be zero, to verify if user changes it - twi_txBufferLength = 0; - - // request for txBuffer to be filled and length to be set - // note: user must call twi_transmit(bytes, length) to do this - twi_onSlaveTransmit(); - - // if they didn't change buffer & length, initialize it - if (0 == twi_txBufferLength) { - twi_txBufferLength = 1; - twi_txBuffer[0] = 0x00; - } - - // transmit first byte from buffer, fall through - - case TW_ST_DATA_ACK: // byte sent, ack returned - // copy data to output register - TWDR = twi_txBuffer[twi_txBufferIndex++]; - - // if there is more to send, ack, otherwise nack - if (twi_txBufferIndex < twi_txBufferLength) { - twi_reply(1); - } else { - twi_reply(0); - } - break; - - case TW_ST_DATA_NACK: // received nack, we are done - case TW_ST_LAST_DATA: // received ack, but we are done already! - // ack future responses - twi_reply(1); - // leave slave receiver state - twi_state = TWI_READY; - break; - */ - - // all - case TW_NO_INFO: // no state information - break; - - case TW_BUS_ERROR: // bus error, illegal stop/start - twi_error = TW_BUS_ERROR; - twi_stop(); - break; - } - - if (fNextInterruptFunction) { - return fNextInterruptFunction(); - } -} - -TwoWire::TwoWire() { } - -void TwoWire::begin(void) { - rxBufferIndex = 0; - rxBufferLength = 0; - - txBufferIndex = 0; - txBufferLength = 0; - - twi_init(); -} - -void TwoWire::beginTransmission(uint8_t address) { - //beginTransmission((uint8_t)address); - - // indicate that we are transmitting - twi_transmitting = 1; - - // set address of targeted slave - txAddress = address; - - // reset tx buffer iterator vars - txBufferIndex = 0; - txBufferLength = 0; -} - -uint8_t TwoWire::endTransmission(uint16_t timeout) { - // transmit buffer (blocking) - //int8_t ret = - twi_cbendTransmissionDone = NULL; - twi_writeTo(txAddress, txBuffer, txBufferLength, 1); - int8_t ret = twii_WaitForDone(timeout); - - // reset tx buffer iterator vars - txBufferIndex = 0; - txBufferLength = 0; - - // indicate that we are done transmitting - // twi_transmitting = 0; - return ret; -} - -void TwoWire::nbendTransmission(void (*function)(int)) { - twi_cbendTransmissionDone = function; - twi_writeTo(txAddress, txBuffer, txBufferLength, 1); - return; -} - -void TwoWire::send(uint8_t data) { - if (twi_transmitting) { - // in master transmitter mode - // don't bother if buffer is full - if (txBufferLength >= NBWIRE_BUFFER_LENGTH) { - return; - } - - // put byte in tx buffer - txBuffer[txBufferIndex] = data; - ++txBufferIndex; - - // update amount in buffer - txBufferLength = txBufferIndex; - } else { - // in slave send mode - // reply to master - //twi_transmit(&data, 1); - } -} - -uint8_t TwoWire::receive(void) { - // default to returning null char - // for people using with char strings - uint8_t value = 0; - - // get each successive byte on each call - if (rxBufferIndex < rxBufferLength) { - value = rxBuffer[rxBufferIndex]; - ++rxBufferIndex; - } - - return value; -} - -uint8_t TwoWire::requestFrom(uint8_t address, int quantity, uint16_t timeout) { - // clamp to buffer length - if (quantity > NBWIRE_BUFFER_LENGTH) { - quantity = NBWIRE_BUFFER_LENGTH; - } - - // perform blocking read into buffer - twi_cbreadFromDone = NULL; - twi_readFrom(address, rxBuffer, quantity); - uint8_t read = twii_WaitForDone(timeout); - - // set rx buffer iterator vars - rxBufferIndex = 0; - rxBufferLength = read; - - return read; -} - -void TwoWire::nbrequestFrom(uint8_t address, int quantity, void (*function)(int)) { - // clamp to buffer length - if (quantity > NBWIRE_BUFFER_LENGTH) { - quantity = NBWIRE_BUFFER_LENGTH; - } - - // perform blocking read into buffer - twi_cbreadFromDone = function; - twi_readFrom(address, rxBuffer, quantity); - //uint8_t read = twii_WaitForDone(); - - // set rx buffer iterator vars - //rxBufferIndex = 0; - //rxBufferLength = read; - - rxBufferIndex = 0; - rxBufferLength = quantity; // this is a hack - - return; //read; -} - -uint8_t TwoWire::available(void) { - return rxBufferLength - rxBufferIndex; -} - -#endif diff --git a/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe-imu/I2Cdev.h b/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe-imu/I2Cdev.h deleted file mode 100755 index 9511fbb..0000000 --- a/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe-imu/I2Cdev.h +++ /dev/null @@ -1,272 +0,0 @@ -// I2Cdev library collection - Main I2C device class header file -// Abstracts bit and byte I2C R/W functions into a convenient class -// 6/9/2012 by Jeff Rowberg -// -// Changelog: -// 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire -// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation -// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums) -// 2011-10-03 - added automatic Arduino version detection for ease of use -// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications -// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x) -// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default -// 2011-08-02 - added support for 16-bit registers -// - fixed incorrect Doxygen comments on some methods -// - added timeout value for read operations (thanks mem @ Arduino forums) -// 2011-07-30 - changed read/write function structures to return success or byte counts -// - made all methods static for multi-device memory savings -// 2011-07-28 - initial release - -/* ============================================ - I2Cdev device library code is placed under the MIT license - Copyright (c) 2012 Jeff Rowberg - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. - =============================================== -*/ - -#ifndef _I2CDEV_H_ -#define _I2CDEV_H_ - -// ----------------------------------------------------------------------------- -// I2C interface implementation setting -// ----------------------------------------------------------------------------- -#define I2CDEV_IMPLEMENTATION I2CDEV_ARDUINO_WIRE - -// comment this out if you are using a non-optimal IDE/implementation setting -// but want the compiler to shut up about it -#define I2CDEV_IMPLEMENTATION_WARNINGS - -// ----------------------------------------------------------------------------- -// I2C interface implementation options -// ----------------------------------------------------------------------------- -#define I2CDEV_ARDUINO_WIRE 1 // Wire object from Arduino -#define I2CDEV_BUILTIN_NBWIRE 2 // Tweaked Wire object from Gene Knight's NBWire project -// ^^^ NBWire implementation is still buggy w/some interrupts! -#define I2CDEV_BUILTIN_FASTWIRE 3 // FastWire object from Francesco Ferrara's project -// ^^^ FastWire implementation in I2Cdev is INCOMPLETE! - -// ----------------------------------------------------------------------------- -// Arduino-style "Serial.print" debug constant (uncomment to enable) -// ----------------------------------------------------------------------------- -//#define I2CDEV_SERIAL_DEBUG - -#ifdef ARDUINO - #if ARDUINO < 100 - #include "WProgram.h" - #else - #include "Arduino.h" - #endif - #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE - #include - #endif -#else - #include "ArduinoWrapper.h" -#endif - -// support Arduino M0 -#ifndef BUFFER_LENGTH - #define BUFFER_LENGTH 64 -#endif - -// 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];") -#define I2CDEV_DEFAULT_READ_TIMEOUT 1000 - -class I2Cdev { - public: - I2Cdev(); - - static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t* data, - uint16_t timeout = I2Cdev::readTimeout); - static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t* data, - uint16_t timeout = I2Cdev::readTimeout); - static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t* data, - uint16_t timeout = I2Cdev::readTimeout); - static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t* data, - uint16_t timeout = I2Cdev::readTimeout); - static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t* data, uint16_t timeout = I2Cdev::readTimeout); - static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t* data, uint16_t timeout = I2Cdev::readTimeout); - static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data, - uint16_t timeout = I2Cdev::readTimeout); - static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data, - uint16_t timeout = I2Cdev::readTimeout); - - static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data); - static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data); - static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data); - static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data); - static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data); - static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data); - static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data); - static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data); - - static uint16_t readTimeout; -}; - -#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE -////////////////////// -// FastWire 0.2 -// This is a library to help faster programs to read I2C devices. -// Copyright(C) 2011 -// Francesco Ferrara -////////////////////// - -/* Master */ -#define TW_START 0x08 -#define TW_REP_START 0x10 - -/* Master Transmitter */ -#define TW_MT_SLA_ACK 0x18 -#define TW_MT_SLA_NACK 0x20 -#define TW_MT_DATA_ACK 0x28 -#define TW_MT_DATA_NACK 0x30 -#define TW_MT_ARB_LOST 0x38 - -/* Master Receiver */ -#define TW_MR_ARB_LOST 0x38 -#define TW_MR_SLA_ACK 0x40 -#define TW_MR_SLA_NACK 0x48 -#define TW_MR_DATA_ACK 0x50 -#define TW_MR_DATA_NACK 0x58 - -#define TW_OK 0 -#define TW_ERROR 1 - -class Fastwire { - private: - static boolean waitInt(); - - public: - static void setup(int khz, boolean pullup); - static byte write(byte device, byte address, byte value); - static byte readBuf(byte device, byte address, byte* data, byte num); -}; -#endif - -#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE -// NBWire implementation based heavily on code by Gene Knight -// Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html -// Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html - -#define NBWIRE_BUFFER_LENGTH 32 - -class TwoWire { - private: - static uint8_t rxBuffer[]; - static uint8_t rxBufferIndex; - static uint8_t rxBufferLength; - - static uint8_t txAddress; - static uint8_t txBuffer[]; - static uint8_t txBufferIndex; - static uint8_t txBufferLength; - - // static uint8_t transmitting; - static void (*user_onRequest)(void); - static void (*user_onReceive)(int); - static void onRequestService(void); - static void onReceiveService(uint8_t*, int); - - public: - TwoWire(); - void begin(); - void begin(uint8_t); - void begin(int); - void beginTransmission(uint8_t); - //void beginTransmission(int); - uint8_t endTransmission(uint16_t timeout = 0); - void nbendTransmission(void (*function)(int)) ; - uint8_t requestFrom(uint8_t, int, uint16_t timeout = 0); - //uint8_t requestFrom(int, int); - void nbrequestFrom(uint8_t, int, void (*function)(int)); - void send(uint8_t); - void send(uint8_t*, uint8_t); - //void send(int); - void send(char*); - uint8_t available(void); - uint8_t receive(void); - void onReceive(void (*)(int)); - void onRequest(void (*)(void)); -}; - -#define TWI_READY 0 -#define TWI_MRX 1 -#define TWI_MTX 2 -#define TWI_SRX 3 -#define TWI_STX 4 - -#define TW_WRITE 0 -#define TW_READ 1 - -#define TW_MT_SLA_NACK 0x20 -#define TW_MT_DATA_NACK 0x30 - -#define CPU_FREQ 16000000L -#define TWI_FREQ 100000L -#define TWI_BUFFER_LENGTH 32 - -/* TWI Status is in TWSR, in the top 5 bits: TWS7 - TWS3 */ - -#define TW_STATUS_MASK (_BV(TWS7)|_BV(TWS6)|_BV(TWS5)|_BV(TWS4)|_BV(TWS3)) -#define TW_STATUS (TWSR & TW_STATUS_MASK) -#define TW_START 0x08 -#define TW_REP_START 0x10 -#define TW_MT_SLA_ACK 0x18 -#define TW_MT_SLA_NACK 0x20 -#define TW_MT_DATA_ACK 0x28 -#define TW_MT_DATA_NACK 0x30 -#define TW_MT_ARB_LOST 0x38 -#define TW_MR_ARB_LOST 0x38 -#define TW_MR_SLA_ACK 0x40 -#define TW_MR_SLA_NACK 0x48 -#define TW_MR_DATA_ACK 0x50 -#define TW_MR_DATA_NACK 0x58 -#define TW_ST_SLA_ACK 0xA8 -#define TW_ST_ARB_LOST_SLA_ACK 0xB0 -#define TW_ST_DATA_ACK 0xB8 -#define TW_ST_DATA_NACK 0xC0 -#define TW_ST_LAST_DATA 0xC8 -#define TW_SR_SLA_ACK 0x60 -#define TW_SR_ARB_LOST_SLA_ACK 0x68 -#define TW_SR_GCALL_ACK 0x70 -#define TW_SR_ARB_LOST_GCALL_ACK 0x78 -#define TW_SR_DATA_ACK 0x80 -#define TW_SR_DATA_NACK 0x88 -#define TW_SR_GCALL_DATA_ACK 0x90 -#define TW_SR_GCALL_DATA_NACK 0x98 -#define TW_SR_STOP 0xA0 -#define TW_NO_INFO 0xF8 -#define TW_BUS_ERROR 0x00 - -//#define _MMIO_BYTE(mem_addr) (*(volatile uint8_t *)(mem_addr)) -//#define _SFR_BYTE(sfr) _MMIO_BYTE(_SFR_ADDR(sfr)) - -#ifndef sbi // set bit - #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) -#endif // sbi - -#ifndef cbi // clear bit - #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) -#endif // cbi - -extern TwoWire Wire; - -#endif // I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE - -#endif /* _I2CDEV_H_ */ \ No newline at end of file diff --git a/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe-imu/MPU6050.cpp b/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe-imu/MPU6050.cpp deleted file mode 100644 index 6a0fd44..0000000 --- a/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe-imu/MPU6050.cpp +++ /dev/null @@ -1,3237 +0,0 @@ -// I2Cdev library collection - MPU6050 I2C device class -// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00) -// 8/24/2011 by Jeff Rowberg -// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib -// -// Changelog: -// ... - ongoing debug release - -// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE -// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF -// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING. - -/* ============================================ - I2Cdev device library code is placed under the MIT license - Copyright (c) 2012 Jeff Rowberg - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. - =============================================== -*/ - -#include "MPU6050.h" - -/** Default constructor, uses default I2C address. - @see MPU6050_DEFAULT_ADDRESS -*/ -MPU6050::MPU6050() { - devAddr = MPU6050_DEFAULT_ADDRESS; -} - -/** Specific address constructor. - @param address I2C address - @see MPU6050_DEFAULT_ADDRESS - @see MPU6050_ADDRESS_AD0_LOW - @see MPU6050_ADDRESS_AD0_HIGH -*/ -MPU6050::MPU6050(uint8_t address) { - devAddr = address; -} - -/** Power on and prepare for general usage. - This will activate the device and take it out of sleep mode (which must be done - after start-up). This function also sets both the accelerometer and the gyroscope - to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets - the clock source to use the X Gyro for reference, which is slightly better than - the default internal clock source. -*/ -void MPU6050::initialize() { - setClockSource(MPU6050_CLOCK_PLL_XGYRO); - setFullScaleGyroRange(MPU6050_GYRO_FS_250); - setFullScaleAccelRange(MPU6050_ACCEL_FS_2); - setSleepEnabled(false); // thanks to Jack Elston for pointing this one out! -} - -/** Verify the I2C connection. - Make sure the device is connected and responds as expected. - @return True if connection is valid, false otherwise -*/ -bool MPU6050::testConnection() { - return getDeviceID() == 0x34; -} - -// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC) - -/** Get the auxiliary I2C supply voltage level. - When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to - 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to - the MPU-6000, which does not have a VLOGIC pin. - @return I2C supply voltage level (0=VLOGIC, 1=VDD) -*/ -uint8_t MPU6050::getAuxVDDIOLevel() { - I2Cdev::readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer); - return buffer[0]; -} -/** Set the auxiliary I2C supply voltage level. - When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to - 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to - the MPU-6000, which does not have a VLOGIC pin. - @param level I2C supply voltage level (0=VLOGIC, 1=VDD) -*/ -void MPU6050::setAuxVDDIOLevel(uint8_t level) { - I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level); -} - -// SMPLRT_DIV register - -/** Get gyroscope output rate divider. - The sensor register output, FIFO output, DMP sampling, Motion detection, Zero - Motion detection, and Free Fall detection are all based on the Sample Rate. - The Sample Rate is generated by dividing the gyroscope output rate by - SMPLRT_DIV: - - Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV) - - where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or - 7), and 1kHz when the DLPF is enabled (see Register 26). - - Note: The accelerometer output rate is 1kHz. This means that for a Sample - Rate greater than 1kHz, the same accelerometer sample may be output to the - FIFO, DMP, and sensor registers more than once. - - For a diagram of the gyroscope and accelerometer signal paths, see Section 8 - of the MPU-6000/MPU-6050 Product Specification document. - - @return Current sample rate - @see MPU6050_RA_SMPLRT_DIV -*/ -uint8_t MPU6050::getRate() { - I2Cdev::readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer); - return buffer[0]; -} -/** Set gyroscope sample rate divider. - @param rate New sample rate divider - @see getRate() - @see MPU6050_RA_SMPLRT_DIV -*/ -void MPU6050::setRate(uint8_t rate) { - I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate); -} - -// CONFIG register - -/** Get external FSYNC configuration. - Configures the external Frame Synchronization (FSYNC) pin sampling. An - external signal connected to the FSYNC pin can be sampled by configuring - EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short - strobes may be captured. The latched FSYNC signal will be sampled at the - Sampling Rate, as defined in register 25. After sampling, the latch will - reset to the current FSYNC signal state. - - The sampled value will be reported in place of the least significant bit in - a sensor data register determined by the value of EXT_SYNC_SET according to - the following table. - - 
-    EXT_SYNC_SET | FSYNC Bit Location
-    -------------+-------------------
-    0            | Input disabled
-    1            | TEMP_OUT_L[0]
-    2            | GYRO_XOUT_L[0]
-    3            | GYRO_YOUT_L[0]
-    4            | GYRO_ZOUT_L[0]
-    5            | ACCEL_XOUT_L[0]
-    6            | ACCEL_YOUT_L[0]
-    7            | ACCEL_ZOUT_L[0]
-
- - @return FSYNC configuration value -*/ -uint8_t MPU6050::getExternalFrameSync() { - I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer); - return buffer[0]; -} -/** Set external FSYNC configuration. - @see getExternalFrameSync() - @see MPU6050_RA_CONFIG - @param sync New FSYNC configuration value -*/ -void MPU6050::setExternalFrameSync(uint8_t sync) { - I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync); -} -/** Get digital low-pass filter configuration. - The DLPF_CFG parameter sets the digital low pass filter configuration. It - also determines the internal sampling rate used by the device as shown in - the table below. - - Note: The accelerometer output rate is 1kHz. This means that for a Sample - Rate greater than 1kHz, the same accelerometer sample may be output to the - FIFO, DMP, and sensor registers more than once. - - 
-            |   ACCELEROMETER    |           GYROSCOPE
-    DLPF_CFG | Bandwidth | Delay  | Bandwidth | Delay  | Sample Rate
-    ---------+-----------+--------+-----------+--------+-------------
-    0        | 260Hz     | 0ms    | 256Hz     | 0.98ms | 8kHz
-    1        | 184Hz     | 2.0ms  | 188Hz     | 1.9ms  | 1kHz
-    2        | 94Hz      | 3.0ms  | 98Hz      | 2.8ms  | 1kHz
-    3        | 44Hz      | 4.9ms  | 42Hz      | 4.8ms  | 1kHz
-    4        | 21Hz      | 8.5ms  | 20Hz      | 8.3ms  | 1kHz
-    5        | 10Hz      | 13.8ms | 10Hz      | 13.4ms | 1kHz
-    6        | 5Hz       | 19.0ms | 5Hz       | 18.6ms | 1kHz
-    7        |   -- Reserved --   |   -- Reserved --   | Reserved
-
- - @return DLFP configuration - @see MPU6050_RA_CONFIG - @see MPU6050_CFG_DLPF_CFG_BIT - @see MPU6050_CFG_DLPF_CFG_LENGTH -*/ -uint8_t MPU6050::getDLPFMode() { - I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer); - return buffer[0]; -} -/** Set digital low-pass filter configuration. - @param mode New DLFP configuration setting - @see getDLPFBandwidth() - @see MPU6050_DLPF_BW_256 - @see MPU6050_RA_CONFIG - @see MPU6050_CFG_DLPF_CFG_BIT - @see MPU6050_CFG_DLPF_CFG_LENGTH -*/ -void MPU6050::setDLPFMode(uint8_t mode) { - I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode); -} - -// GYRO_CONFIG register - -/** Get full-scale gyroscope range. - The FS_SEL parameter allows setting the full-scale range of the gyro sensors, - as described in the table below. - - 
-    0 = +/- 250 degrees/sec
-    1 = +/- 500 degrees/sec
-    2 = +/- 1000 degrees/sec
-    3 = +/- 2000 degrees/sec
-
- - @return Current full-scale gyroscope range setting - @see MPU6050_GYRO_FS_250 - @see MPU6050_RA_GYRO_CONFIG - @see MPU6050_GCONFIG_FS_SEL_BIT - @see MPU6050_GCONFIG_FS_SEL_LENGTH -*/ -uint8_t MPU6050::getFullScaleGyroRange() { - I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer); - return buffer[0]; -} -/** Set full-scale gyroscope range. - @param range New full-scale gyroscope range value - @see getFullScaleRange() - @see MPU6050_GYRO_FS_250 - @see MPU6050_RA_GYRO_CONFIG - @see MPU6050_GCONFIG_FS_SEL_BIT - @see MPU6050_GCONFIG_FS_SEL_LENGTH -*/ -void MPU6050::setFullScaleGyroRange(uint8_t range) { - I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range); -} - -// ACCEL_CONFIG register - -/** Get self-test enabled setting for accelerometer X axis. - @return Self-test enabled value - @see MPU6050_RA_ACCEL_CONFIG -*/ -bool MPU6050::getAccelXSelfTest() { - I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer); - return buffer[0]; -} -/** Get self-test enabled setting for accelerometer X axis. - @param enabled Self-test enabled value - @see MPU6050_RA_ACCEL_CONFIG -*/ -void MPU6050::setAccelXSelfTest(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled); -} -/** Get self-test enabled value for accelerometer Y axis. - @return Self-test enabled value - @see MPU6050_RA_ACCEL_CONFIG -*/ -bool MPU6050::getAccelYSelfTest() { - I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer); - return buffer[0]; -} -/** Get self-test enabled value for accelerometer Y axis. - @param enabled Self-test enabled value - @see MPU6050_RA_ACCEL_CONFIG -*/ -void MPU6050::setAccelYSelfTest(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled); -} -/** Get self-test enabled value for accelerometer Z axis. - @return Self-test enabled value - @see MPU6050_RA_ACCEL_CONFIG -*/ -bool MPU6050::getAccelZSelfTest() { - I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer); - return buffer[0]; -} -/** Set self-test enabled value for accelerometer Z axis. - @param enabled Self-test enabled value - @see MPU6050_RA_ACCEL_CONFIG -*/ -void MPU6050::setAccelZSelfTest(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled); -} -/** Get full-scale accelerometer range. - The FS_SEL parameter allows setting the full-scale range of the accelerometer - sensors, as described in the table below. - - 
-    0 = +/- 2g
-    1 = +/- 4g
-    2 = +/- 8g
-    3 = +/- 16g
-
- - @return Current full-scale accelerometer range setting - @see MPU6050_ACCEL_FS_2 - @see MPU6050_RA_ACCEL_CONFIG - @see MPU6050_ACONFIG_AFS_SEL_BIT - @see MPU6050_ACONFIG_AFS_SEL_LENGTH -*/ -uint8_t MPU6050::getFullScaleAccelRange() { - I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer); - return buffer[0]; -} -/** Set full-scale accelerometer range. - @param range New full-scale accelerometer range setting - @see getFullScaleAccelRange() -*/ -void MPU6050::setFullScaleAccelRange(uint8_t range) { - I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range); -} -/** Get the high-pass filter configuration. - The DHPF is a filter module in the path leading to motion detectors (Free - Fall, Motion threshold, and Zero Motion). The high pass filter output is not - available to the data registers (see Figure in Section 8 of the MPU-6000/ - MPU-6050 Product Specification document). - - The high pass filter has three modes: - - 
-      Reset: The filter output settles to zero within one sample. This
-             effectively disables the high pass filter. This mode may be toggled
-             to quickly settle the filter.
-
-      On:    The high pass filter will pass signals above the cut off frequency.
-
-      Hold:  When triggered, the filter holds the present sample. The filter
-             output will be the difference between the input sample and the held
-             sample.
-
- - 
-    ACCEL_HPF | Filter Mode | Cut-off Frequency
-    ----------+-------------+------------------
-    0         | Reset       | None
-    1         | On          | 5Hz
-    2         | On          | 2.5Hz
-    3         | On          | 1.25Hz
-    4         | On          | 0.63Hz
-    7         | Hold        | None
-
- - @return Current high-pass filter configuration - @see MPU6050_DHPF_RESET - @see MPU6050_RA_ACCEL_CONFIG -*/ -uint8_t MPU6050::getDHPFMode() { - I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, - buffer); - return buffer[0]; -} -/** Set the high-pass filter configuration. - @param bandwidth New high-pass filter configuration - @see setDHPFMode() - @see MPU6050_DHPF_RESET - @see MPU6050_RA_ACCEL_CONFIG -*/ -void MPU6050::setDHPFMode(uint8_t bandwidth) { - I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, - bandwidth); -} - -// FF_THR register - -/** Get free-fall event acceleration threshold. - This register configures the detection threshold for Free Fall event - detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the - absolute value of the accelerometer measurements for the three axes are each - less than the detection threshold. This condition increments the Free Fall - duration counter (Register 30). The Free Fall interrupt is triggered when the - Free Fall duration counter reaches the time specified in FF_DUR. - - For more details on the Free Fall detection interrupt, see Section 8.2 of the - MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and - 58 of this document. - - @return Current free-fall acceleration threshold value (LSB = 2mg) - @see MPU6050_RA_FF_THR -*/ -uint8_t MPU6050::getFreefallDetectionThreshold() { - I2Cdev::readByte(devAddr, MPU6050_RA_FF_THR, buffer); - return buffer[0]; -} -/** Get free-fall event acceleration threshold. - @param threshold New free-fall acceleration threshold value (LSB = 2mg) - @see getFreefallDetectionThreshold() - @see MPU6050_RA_FF_THR -*/ -void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) { - I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold); -} - -// FF_DUR register - -/** Get free-fall event duration threshold. - This register configures the duration counter threshold for Free Fall event - detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit - of 1 LSB = 1 ms. - - The Free Fall duration counter increments while the absolute value of the - accelerometer measurements are each less than the detection threshold - (Register 29). The Free Fall interrupt is triggered when the Free Fall - duration counter reaches the time specified in this register. - - For more details on the Free Fall detection interrupt, see Section 8.2 of - the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 - and 58 of this document. - - @return Current free-fall duration threshold value (LSB = 1ms) - @see MPU6050_RA_FF_DUR -*/ -uint8_t MPU6050::getFreefallDetectionDuration() { - I2Cdev::readByte(devAddr, MPU6050_RA_FF_DUR, buffer); - return buffer[0]; -} -/** Get free-fall event duration threshold. - @param duration New free-fall duration threshold value (LSB = 1ms) - @see getFreefallDetectionDuration() - @see MPU6050_RA_FF_DUR -*/ -void MPU6050::setFreefallDetectionDuration(uint8_t duration) { - I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration); -} - -// MOT_THR register - -/** Get motion detection event acceleration threshold. - This register configures the detection threshold for Motion interrupt - generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the - absolute value of any of the accelerometer measurements exceeds this Motion - detection threshold. This condition increments the Motion detection duration - counter (Register 32). The Motion detection interrupt is triggered when the - Motion Detection counter reaches the time count specified in MOT_DUR - (Register 32). - - The Motion interrupt will indicate the axis and polarity of detected motion - in MOT_DETECT_STATUS (Register 97). - - For more details on the Motion detection interrupt, see Section 8.3 of the - MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and - 58 of this document. - - @return Current motion detection acceleration threshold value (LSB = 2mg) - @see MPU6050_RA_MOT_THR -*/ -uint8_t MPU6050::getMotionDetectionThreshold() { - I2Cdev::readByte(devAddr, MPU6050_RA_MOT_THR, buffer); - return buffer[0]; -} -/** Set free-fall event acceleration threshold. - @param threshold New motion detection acceleration threshold value (LSB = 2mg) - @see getMotionDetectionThreshold() - @see MPU6050_RA_MOT_THR -*/ -void MPU6050::setMotionDetectionThreshold(uint8_t threshold) { - I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold); -} - -// MOT_DUR register - -/** Get motion detection event duration threshold. - This register configures the duration counter threshold for Motion interrupt - generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit - of 1LSB = 1ms. The Motion detection duration counter increments when the - absolute value of any of the accelerometer measurements exceeds the Motion - detection threshold (Register 31). The Motion detection interrupt is - triggered when the Motion detection counter reaches the time count specified - in this register. - - For more details on the Motion detection interrupt, see Section 8.3 of the - MPU-6000/MPU-6050 Product Specification document. - - @return Current motion detection duration threshold value (LSB = 1ms) - @see MPU6050_RA_MOT_DUR -*/ -uint8_t MPU6050::getMotionDetectionDuration() { - I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DUR, buffer); - return buffer[0]; -} -/** Set motion detection event duration threshold. - @param duration New motion detection duration threshold value (LSB = 1ms) - @see getMotionDetectionDuration() - @see MPU6050_RA_MOT_DUR -*/ -void MPU6050::setMotionDetectionDuration(uint8_t duration) { - I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration); -} - -// ZRMOT_THR register - -/** Get zero motion detection event acceleration threshold. - This register configures the detection threshold for Zero Motion interrupt - generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when - the absolute value of the accelerometer measurements for the 3 axes are each - less than the detection threshold. This condition increments the Zero Motion - duration counter (Register 34). The Zero Motion interrupt is triggered when - the Zero Motion duration counter reaches the time count specified in - ZRMOT_DUR (Register 34). - - Unlike Free Fall or Motion detection, Zero Motion detection triggers an - interrupt both when Zero Motion is first detected and when Zero Motion is no - longer detected. - - When a zero motion event is detected, a Zero Motion Status will be indicated - in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion - condition is detected, the status bit is set to 1. When a zero-motion-to- - motion condition is detected, the status bit is set to 0. - - For more details on the Zero Motion detection interrupt, see Section 8.4 of - the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 - and 58 of this document. - - @return Current zero motion detection acceleration threshold value (LSB = 2mg) - @see MPU6050_RA_ZRMOT_THR -*/ -uint8_t MPU6050::getZeroMotionDetectionThreshold() { - I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer); - return buffer[0]; -} -/** Set zero motion detection event acceleration threshold. - @param threshold New zero motion detection acceleration threshold value (LSB = 2mg) - @see getZeroMotionDetectionThreshold() - @see MPU6050_RA_ZRMOT_THR -*/ -void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) { - I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold); -} - -// ZRMOT_DUR register - -/** Get zero motion detection event duration threshold. - This register configures the duration counter threshold for Zero Motion - interrupt generation. The duration counter ticks at 16 Hz, therefore - ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter - increments while the absolute value of the accelerometer measurements are - each less than the detection threshold (Register 33). The Zero Motion - interrupt is triggered when the Zero Motion duration counter reaches the time - count specified in this register. - - For more details on the Zero Motion detection interrupt, see Section 8.4 of - the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56 - and 58 of this document. - - @return Current zero motion detection duration threshold value (LSB = 64ms) - @see MPU6050_RA_ZRMOT_DUR -*/ -uint8_t MPU6050::getZeroMotionDetectionDuration() { - I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer); - return buffer[0]; -} -/** Set zero motion detection event duration threshold. - @param duration New zero motion detection duration threshold value (LSB = 1ms) - @see getZeroMotionDetectionDuration() - @see MPU6050_RA_ZRMOT_DUR -*/ -void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) { - I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration); -} - -// FIFO_EN register - -/** Get temperature FIFO enabled value. - When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and - 66) to be written into the FIFO buffer. - @return Current temperature FIFO enabled value - @see MPU6050_RA_FIFO_EN -*/ -bool MPU6050::getTempFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set temperature FIFO enabled value. - @param enabled New temperature FIFO enabled value - @see getTempFIFOEnabled() - @see MPU6050_RA_FIFO_EN -*/ -void MPU6050::setTempFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled); -} -/** Get gyroscope X-axis FIFO enabled value. - When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and - 68) to be written into the FIFO buffer. - @return Current gyroscope X-axis FIFO enabled value - @see MPU6050_RA_FIFO_EN -*/ -bool MPU6050::getXGyroFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set gyroscope X-axis FIFO enabled value. - @param enabled New gyroscope X-axis FIFO enabled value - @see getXGyroFIFOEnabled() - @see MPU6050_RA_FIFO_EN -*/ -void MPU6050::setXGyroFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled); -} -/** Get gyroscope Y-axis FIFO enabled value. - When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and - 70) to be written into the FIFO buffer. - @return Current gyroscope Y-axis FIFO enabled value - @see MPU6050_RA_FIFO_EN -*/ -bool MPU6050::getYGyroFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set gyroscope Y-axis FIFO enabled value. - @param enabled New gyroscope Y-axis FIFO enabled value - @see getYGyroFIFOEnabled() - @see MPU6050_RA_FIFO_EN -*/ -void MPU6050::setYGyroFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled); -} -/** Get gyroscope Z-axis FIFO enabled value. - When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and - 72) to be written into the FIFO buffer. - @return Current gyroscope Z-axis FIFO enabled value - @see MPU6050_RA_FIFO_EN -*/ -bool MPU6050::getZGyroFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set gyroscope Z-axis FIFO enabled value. - @param enabled New gyroscope Z-axis FIFO enabled value - @see getZGyroFIFOEnabled() - @see MPU6050_RA_FIFO_EN -*/ -void MPU6050::setZGyroFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled); -} -/** Get accelerometer FIFO enabled value. - When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H, - ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be - written into the FIFO buffer. - @return Current accelerometer FIFO enabled value - @see MPU6050_RA_FIFO_EN -*/ -bool MPU6050::getAccelFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set accelerometer FIFO enabled value. - @param enabled New accelerometer FIFO enabled value - @see getAccelFIFOEnabled() - @see MPU6050_RA_FIFO_EN -*/ -void MPU6050::setAccelFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled); -} -/** Get Slave 2 FIFO enabled value. - When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) - associated with Slave 2 to be written into the FIFO buffer. - @return Current Slave 2 FIFO enabled value - @see MPU6050_RA_FIFO_EN -*/ -bool MPU6050::getSlave2FIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set Slave 2 FIFO enabled value. - @param enabled New Slave 2 FIFO enabled value - @see getSlave2FIFOEnabled() - @see MPU6050_RA_FIFO_EN -*/ -void MPU6050::setSlave2FIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled); -} -/** Get Slave 1 FIFO enabled value. - When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) - associated with Slave 1 to be written into the FIFO buffer. - @return Current Slave 1 FIFO enabled value - @see MPU6050_RA_FIFO_EN -*/ -bool MPU6050::getSlave1FIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set Slave 1 FIFO enabled value. - @param enabled New Slave 1 FIFO enabled value - @see getSlave1FIFOEnabled() - @see MPU6050_RA_FIFO_EN -*/ -void MPU6050::setSlave1FIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled); -} -/** Get Slave 0 FIFO enabled value. - When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) - associated with Slave 0 to be written into the FIFO buffer. - @return Current Slave 0 FIFO enabled value - @see MPU6050_RA_FIFO_EN -*/ -bool MPU6050::getSlave0FIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set Slave 0 FIFO enabled value. - @param enabled New Slave 0 FIFO enabled value - @see getSlave0FIFOEnabled() - @see MPU6050_RA_FIFO_EN -*/ -void MPU6050::setSlave0FIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled); -} - -// I2C_MST_CTRL register - -/** Get multi-master enabled value. - Multi-master capability allows multiple I2C masters to operate on the same - bus. In circuits where multi-master capability is required, set MULT_MST_EN - to 1. This will increase current drawn by approximately 30uA. - - In circuits where multi-master capability is required, the state of the I2C - bus must always be monitored by each separate I2C Master. Before an I2C - Master can assume arbitration of the bus, it must first confirm that no other - I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the - MPU-60X0's bus arbitration detection logic is turned on, enabling it to - detect when the bus is available. - - @return Current multi-master enabled value - @see MPU6050_RA_I2C_MST_CTRL -*/ -bool MPU6050::getMultiMasterEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer); - return buffer[0]; -} -/** Set multi-master enabled value. - @param enabled New multi-master enabled value - @see getMultiMasterEnabled() - @see MPU6050_RA_I2C_MST_CTRL -*/ -void MPU6050::setMultiMasterEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled); -} -/** Get wait-for-external-sensor-data enabled value. - When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be - delayed until External Sensor data from the Slave Devices are loaded into the - EXT_SENS_DATA registers. This is used to ensure that both the internal sensor - data (i.e. from gyro and accel) and external sensor data have been loaded to - their respective data registers (i.e. the data is synced) when the Data Ready - interrupt is triggered. - - @return Current wait-for-external-sensor-data enabled value - @see MPU6050_RA_I2C_MST_CTRL -*/ -bool MPU6050::getWaitForExternalSensorEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer); - return buffer[0]; -} -/** Set wait-for-external-sensor-data enabled value. - @param enabled New wait-for-external-sensor-data enabled value - @see getWaitForExternalSensorEnabled() - @see MPU6050_RA_I2C_MST_CTRL -*/ -void MPU6050::setWaitForExternalSensorEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled); -} -/** Get Slave 3 FIFO enabled value. - When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) - associated with Slave 3 to be written into the FIFO buffer. - @return Current Slave 3 FIFO enabled value - @see MPU6050_RA_MST_CTRL -*/ -bool MPU6050::getSlave3FIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set Slave 3 FIFO enabled value. - @param enabled New Slave 3 FIFO enabled value - @see getSlave3FIFOEnabled() - @see MPU6050_RA_MST_CTRL -*/ -void MPU6050::setSlave3FIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled); -} -/** Get slave read/write transition enabled value. - The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave - read to the next slave read. If the bit equals 0, there will be a restart - between reads. If the bit equals 1, there will be a stop followed by a start - of the following read. When a write transaction follows a read transaction, - the stop followed by a start of the successive write will be always used. - - @return Current slave read/write transition enabled value - @see MPU6050_RA_I2C_MST_CTRL -*/ -bool MPU6050::getSlaveReadWriteTransitionEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer); - return buffer[0]; -} -/** Set slave read/write transition enabled value. - @param enabled New slave read/write transition enabled value - @see getSlaveReadWriteTransitionEnabled() - @see MPU6050_RA_I2C_MST_CTRL -*/ -void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled); -} -/** Get I2C master clock speed. - I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the - MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to - the following table: - - 
-    I2C_MST_CLK | I2C Master Clock Speed | 8MHz Clock Divider
-    ------------+------------------------+-------------------
-    0           | 348kHz                 | 23
-    1           | 333kHz                 | 24
-    2           | 320kHz                 | 25
-    3           | 308kHz                 | 26
-    4           | 296kHz                 | 27
-    5           | 286kHz                 | 28
-    6           | 276kHz                 | 29
-    7           | 267kHz                 | 30
-    8           | 258kHz                 | 31
-    9           | 500kHz                 | 16
-    10          | 471kHz                 | 17
-    11          | 444kHz                 | 18
-    12          | 421kHz                 | 19
-    13          | 400kHz                 | 20
-    14          | 381kHz                 | 21
-    15          | 364kHz                 | 22
-
- - @return Current I2C master clock speed - @see MPU6050_RA_I2C_MST_CTRL -*/ -uint8_t MPU6050::getMasterClockSpeed() { - I2Cdev::readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer); - return buffer[0]; -} -/** Set I2C master clock speed. - @reparam speed Current I2C master clock speed - @see MPU6050_RA_I2C_MST_CTRL -*/ -void MPU6050::setMasterClockSpeed(uint8_t speed) { - I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed); -} - -// I2C_SLV* registers (Slave 0-3) - -/** Get the I2C address of the specified slave (0-3). - Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read - operation, and if it is cleared, then it's a write operation. The remaining - bits (6-0) are the 7-bit device address of the slave device. - - In read mode, the result of the read is placed in the lowest available - EXT_SENS_DATA register. For further information regarding the allocation of - read results, please refer to the EXT_SENS_DATA register description - (Registers 73 - 96). - - The MPU-6050 supports a total of five slaves, but Slave 4 has unique - characteristics, and so it has its own functions (getSlave4* and setSlave4*). - - I2C data transactions are performed at the Sample Rate, as defined in - Register 25. The user is responsible for ensuring that I2C data transactions - to and from each enabled Slave can be completed within a single period of the - Sample Rate. - - The I2C slave access rate can be reduced relative to the Sample Rate. This - reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a - slave's access rate is reduced relative to the Sample Rate is determined by - I2C_MST_DELAY_CTRL (Register 103). - - The processing order for the slaves is fixed. The sequence followed for - processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a - particular Slave is disabled it will be skipped. - - Each slave can either be accessed at the sample rate or at a reduced sample - rate. In a case where some slaves are accessed at the Sample Rate and some - slaves are accessed at the reduced rate, the sequence of accessing the slaves - (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will - be skipped if their access rate dictates that they should not be accessed - during that particular cycle. For further information regarding the reduced - access rate, please refer to Register 52. Whether a slave is accessed at the - Sample Rate or at the reduced rate is determined by the Delay Enable bits in - Register 103. - - @param num Slave number (0-3) - @return Current address for specified slave - @see MPU6050_RA_I2C_SLV0_ADDR -*/ -uint8_t MPU6050::getSlaveAddress(uint8_t num) { - if (num > 3) { - return 0; - } - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num * 3, buffer); - return buffer[0]; -} -/** Set the I2C address of the specified slave (0-3). - @param num Slave number (0-3) - @param address New address for specified slave - @see getSlaveAddress() - @see MPU6050_RA_I2C_SLV0_ADDR -*/ -void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) { - if (num > 3) { - return; - } - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num * 3, address); -} -/** Get the active internal register for the specified slave (0-3). - Read/write operations for this slave will be done to whatever internal - register address is stored in this MPU register. - - The MPU-6050 supports a total of five slaves, but Slave 4 has unique - characteristics, and so it has its own functions. - - @param num Slave number (0-3) - @return Current active register for specified slave - @see MPU6050_RA_I2C_SLV0_REG -*/ -uint8_t MPU6050::getSlaveRegister(uint8_t num) { - if (num > 3) { - return 0; - } - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num * 3, buffer); - return buffer[0]; -} -/** Set the active internal register for the specified slave (0-3). - @param num Slave number (0-3) - @param reg New active register for specified slave - @see getSlaveRegister() - @see MPU6050_RA_I2C_SLV0_REG -*/ -void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) { - if (num > 3) { - return; - } - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num * 3, reg); -} -/** Get the enabled value for the specified slave (0-3). - When set to 1, this bit enables Slave 0 for data transfer operations. When - cleared to 0, this bit disables Slave 0 from data transfer operations. - @param num Slave number (0-3) - @return Current enabled value for specified slave - @see MPU6050_RA_I2C_SLV0_CTRL -*/ -bool MPU6050::getSlaveEnabled(uint8_t num) { - if (num > 3) { - return 0; - } - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_EN_BIT, buffer); - return buffer[0]; -} -/** Set the enabled value for the specified slave (0-3). - @param num Slave number (0-3) - @param enabled New enabled value for specified slave - @see getSlaveEnabled() - @see MPU6050_RA_I2C_SLV0_CTRL -*/ -void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) { - if (num > 3) { - return; - } - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_EN_BIT, enabled); -} -/** Get word pair byte-swapping enabled for the specified slave (0-3). - When set to 1, this bit enables byte swapping. When byte swapping is enabled, - the high and low bytes of a word pair are swapped. Please refer to - I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0, - bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA - registers in the order they were transferred. - - @param num Slave number (0-3) - @return Current word pair byte-swapping enabled value for specified slave - @see MPU6050_RA_I2C_SLV0_CTRL -*/ -bool MPU6050::getSlaveWordByteSwap(uint8_t num) { - if (num > 3) { - return 0; - } - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer); - return buffer[0]; -} -/** Set word pair byte-swapping enabled for the specified slave (0-3). - @param num Slave number (0-3) - @param enabled New word pair byte-swapping enabled value for specified slave - @see getSlaveWordByteSwap() - @see MPU6050_RA_I2C_SLV0_CTRL -*/ -void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) { - if (num > 3) { - return; - } - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled); -} -/** Get write mode for the specified slave (0-3). - When set to 1, the transaction will read or write data only. When cleared to - 0, the transaction will write a register address prior to reading or writing - data. This should equal 0 when specifying the register address within the - Slave device to/from which the ensuing data transaction will take place. - - @param num Slave number (0-3) - @return Current write mode for specified slave (0 = register address + data, 1 = data only) - @see MPU6050_RA_I2C_SLV0_CTRL -*/ -bool MPU6050::getSlaveWriteMode(uint8_t num) { - if (num > 3) { - return 0; - } - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer); - return buffer[0]; -} -/** Set write mode for the specified slave (0-3). - @param num Slave number (0-3) - @param mode New write mode for specified slave (0 = register address + data, 1 = data only) - @see getSlaveWriteMode() - @see MPU6050_RA_I2C_SLV0_CTRL -*/ -void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) { - if (num > 3) { - return; - } - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_REG_DIS_BIT, mode); -} -/** Get word pair grouping order offset for the specified slave (0-3). - This sets specifies the grouping order of word pairs received from registers. - When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even, - then odd register addresses) are paired to form a word. When set to 1, bytes - from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even - register addresses) are paired to form a word. - - @param num Slave number (0-3) - @return Current word pair grouping order offset for specified slave - @see MPU6050_RA_I2C_SLV0_CTRL -*/ -bool MPU6050::getSlaveWordGroupOffset(uint8_t num) { - if (num > 3) { - return 0; - } - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_GRP_BIT, buffer); - return buffer[0]; -} -/** Set word pair grouping order offset for the specified slave (0-3). - @param num Slave number (0-3) - @param enabled New word pair grouping order offset for specified slave - @see getSlaveWordGroupOffset() - @see MPU6050_RA_I2C_SLV0_CTRL -*/ -void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) { - if (num > 3) { - return; - } - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_GRP_BIT, enabled); -} -/** Get number of bytes to read for the specified slave (0-3). - Specifies the number of bytes transferred to and from Slave 0. Clearing this - bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN. - @param num Slave number (0-3) - @return Number of bytes to read for specified slave - @see MPU6050_RA_I2C_SLV0_CTRL -*/ -uint8_t MPU6050::getSlaveDataLength(uint8_t num) { - if (num > 3) { - return 0; - } - I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, - buffer); - return buffer[0]; -} -/** Set number of bytes to read for the specified slave (0-3). - @param num Slave number (0-3) - @param length Number of bytes to read for specified slave - @see getSlaveDataLength() - @see MPU6050_RA_I2C_SLV0_CTRL -*/ -void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) { - if (num > 3) { - return; - } - I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, - length); -} - -// I2C_SLV* registers (Slave 4) - -/** Get the I2C address of Slave 4. - Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read - operation, and if it is cleared, then it's a write operation. The remaining - bits (6-0) are the 7-bit device address of the slave device. - - @return Current address for Slave 4 - @see getSlaveAddress() - @see MPU6050_RA_I2C_SLV4_ADDR -*/ -uint8_t MPU6050::getSlave4Address() { - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer); - return buffer[0]; -} -/** Set the I2C address of Slave 4. - @param address New address for Slave 4 - @see getSlave4Address() - @see MPU6050_RA_I2C_SLV4_ADDR -*/ -void MPU6050::setSlave4Address(uint8_t address) { - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address); -} -/** Get the active internal register for the Slave 4. - Read/write operations for this slave will be done to whatever internal - register address is stored in this MPU register. - - @return Current active register for Slave 4 - @see MPU6050_RA_I2C_SLV4_REG -*/ -uint8_t MPU6050::getSlave4Register() { - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer); - return buffer[0]; -} -/** Set the active internal register for Slave 4. - @param reg New active register for Slave 4 - @see getSlave4Register() - @see MPU6050_RA_I2C_SLV4_REG -*/ -void MPU6050::setSlave4Register(uint8_t reg) { - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg); -} -/** Set new byte to write to Slave 4. - This register stores the data to be written into the Slave 4. If I2C_SLV4_RW - is set 1 (set to read), this register has no effect. - @param data New byte to write to Slave 4 - @see MPU6050_RA_I2C_SLV4_DO -*/ -void MPU6050::setSlave4OutputByte(uint8_t data) { - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data); -} -/** Get the enabled value for the Slave 4. - When set to 1, this bit enables Slave 4 for data transfer operations. When - cleared to 0, this bit disables Slave 4 from data transfer operations. - @return Current enabled value for Slave 4 - @see MPU6050_RA_I2C_SLV4_CTRL -*/ -bool MPU6050::getSlave4Enabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer); - return buffer[0]; -} -/** Set the enabled value for Slave 4. - @param enabled New enabled value for Slave 4 - @see getSlave4Enabled() - @see MPU6050_RA_I2C_SLV4_CTRL -*/ -void MPU6050::setSlave4Enabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled); -} -/** Get the enabled value for Slave 4 transaction interrupts. - When set to 1, this bit enables the generation of an interrupt signal upon - completion of a Slave 4 transaction. When cleared to 0, this bit disables the - generation of an interrupt signal upon completion of a Slave 4 transaction. - The interrupt status can be observed in Register 54. - - @return Current enabled value for Slave 4 transaction interrupts. - @see MPU6050_RA_I2C_SLV4_CTRL -*/ -bool MPU6050::getSlave4InterruptEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer); - return buffer[0]; -} -/** Set the enabled value for Slave 4 transaction interrupts. - @param enabled New enabled value for Slave 4 transaction interrupts. - @see getSlave4InterruptEnabled() - @see MPU6050_RA_I2C_SLV4_CTRL -*/ -void MPU6050::setSlave4InterruptEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled); -} -/** Get write mode for Slave 4. - When set to 1, the transaction will read or write data only. When cleared to - 0, the transaction will write a register address prior to reading or writing - data. This should equal 0 when specifying the register address within the - Slave device to/from which the ensuing data transaction will take place. - - @return Current write mode for Slave 4 (0 = register address + data, 1 = data only) - @see MPU6050_RA_I2C_SLV4_CTRL -*/ -bool MPU6050::getSlave4WriteMode() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer); - return buffer[0]; -} -/** Set write mode for the Slave 4. - @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only) - @see getSlave4WriteMode() - @see MPU6050_RA_I2C_SLV4_CTRL -*/ -void MPU6050::setSlave4WriteMode(bool mode) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode); -} -/** Get Slave 4 master delay value. - This configures the reduced access rate of I2C slaves relative to the Sample - Rate. When a slave's access rate is decreased relative to the Sample Rate, - the slave is accessed every: - - 1 / (1 + I2C_MST_DLY) samples - - This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and - DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to - the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For - further information regarding the Sample Rate, please refer to register 25. - - @return Current Slave 4 master delay value - @see MPU6050_RA_I2C_SLV4_CTRL -*/ -uint8_t MPU6050::getSlave4MasterDelay() { - I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, - buffer); - return buffer[0]; -} -/** Set Slave 4 master delay value. - @param delay New Slave 4 master delay value - @see getSlave4MasterDelay() - @see MPU6050_RA_I2C_SLV4_CTRL -*/ -void MPU6050::setSlave4MasterDelay(uint8_t delay) { - I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, - delay); -} -/** Get last available byte read from Slave 4. - This register stores the data read from Slave 4. This field is populated - after a read transaction. - @return Last available byte read from to Slave 4 - @see MPU6050_RA_I2C_SLV4_DI -*/ -uint8_t MPU6050::getSlate4InputByte() { - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer); - return buffer[0]; -} - -// I2C_MST_STATUS register - -/** Get FSYNC interrupt status. - This bit reflects the status of the FSYNC interrupt from an external device - into the MPU-60X0. This is used as a way to pass an external interrupt - through the MPU-60X0 to the host application processor. When set to 1, this - bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG - (Register 55). - @return FSYNC interrupt status - @see MPU6050_RA_I2C_MST_STATUS -*/ -bool MPU6050::getPassthroughStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer); - return buffer[0]; -} -/** Get Slave 4 transaction done status. - Automatically sets to 1 when a Slave 4 transaction has completed. This - triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register - (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the - I2C_SLV4_CTRL register (Register 52). - @return Slave 4 transaction done status - @see MPU6050_RA_I2C_MST_STATUS -*/ -bool MPU6050::getSlave4IsDone() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer); - return buffer[0]; -} -/** Get master arbitration lost status. - This bit automatically sets to 1 when the I2C Master has lost arbitration of - the auxiliary I2C bus (an error condition). This triggers an interrupt if the - I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted. - @return Master arbitration lost status - @see MPU6050_RA_I2C_MST_STATUS -*/ -bool MPU6050::getLostArbitration() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer); - return buffer[0]; -} -/** Get Slave 4 NACK status. - This bit automatically sets to 1 when the I2C Master receives a NACK in a - transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN - bit in the INT_ENABLE register (Register 56) is asserted. - @return Slave 4 NACK interrupt status - @see MPU6050_RA_I2C_MST_STATUS -*/ -bool MPU6050::getSlave4Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer); - return buffer[0]; -} -/** Get Slave 3 NACK status. - This bit automatically sets to 1 when the I2C Master receives a NACK in a - transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN - bit in the INT_ENABLE register (Register 56) is asserted. - @return Slave 3 NACK interrupt status - @see MPU6050_RA_I2C_MST_STATUS -*/ -bool MPU6050::getSlave3Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer); - return buffer[0]; -} -/** Get Slave 2 NACK status. - This bit automatically sets to 1 when the I2C Master receives a NACK in a - transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN - bit in the INT_ENABLE register (Register 56) is asserted. - @return Slave 2 NACK interrupt status - @see MPU6050_RA_I2C_MST_STATUS -*/ -bool MPU6050::getSlave2Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer); - return buffer[0]; -} -/** Get Slave 1 NACK status. - This bit automatically sets to 1 when the I2C Master receives a NACK in a - transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN - bit in the INT_ENABLE register (Register 56) is asserted. - @return Slave 1 NACK interrupt status - @see MPU6050_RA_I2C_MST_STATUS -*/ -bool MPU6050::getSlave1Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer); - return buffer[0]; -} -/** Get Slave 0 NACK status. - This bit automatically sets to 1 when the I2C Master receives a NACK in a - transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN - bit in the INT_ENABLE register (Register 56) is asserted. - @return Slave 0 NACK interrupt status - @see MPU6050_RA_I2C_MST_STATUS -*/ -bool MPU6050::getSlave0Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer); - return buffer[0]; -} - -// INT_PIN_CFG register - -/** Get interrupt logic level mode. - Will be set 0 for active-high, 1 for active-low. - @return Current interrupt mode (0=active-high, 1=active-low) - @see MPU6050_RA_INT_PIN_CFG - @see MPU6050_INTCFG_INT_LEVEL_BIT -*/ -bool MPU6050::getInterruptMode() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer); - return buffer[0]; -} -/** Set interrupt logic level mode. - @param mode New interrupt mode (0=active-high, 1=active-low) - @see getInterruptMode() - @see MPU6050_RA_INT_PIN_CFG - @see MPU6050_INTCFG_INT_LEVEL_BIT -*/ -void MPU6050::setInterruptMode(bool mode) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode); -} -/** Get interrupt drive mode. - Will be set 0 for push-pull, 1 for open-drain. - @return Current interrupt drive mode (0=push-pull, 1=open-drain) - @see MPU6050_RA_INT_PIN_CFG - @see MPU6050_INTCFG_INT_OPEN_BIT -*/ -bool MPU6050::getInterruptDrive() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer); - return buffer[0]; -} -/** Set interrupt drive mode. - @param drive New interrupt drive mode (0=push-pull, 1=open-drain) - @see getInterruptDrive() - @see MPU6050_RA_INT_PIN_CFG - @see MPU6050_INTCFG_INT_OPEN_BIT -*/ -void MPU6050::setInterruptDrive(bool drive) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive); -} -/** Get interrupt latch mode. - Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared. - @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared) - @see MPU6050_RA_INT_PIN_CFG - @see MPU6050_INTCFG_LATCH_INT_EN_BIT -*/ -bool MPU6050::getInterruptLatch() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer); - return buffer[0]; -} -/** Set interrupt latch mode. - @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared) - @see getInterruptLatch() - @see MPU6050_RA_INT_PIN_CFG - @see MPU6050_INTCFG_LATCH_INT_EN_BIT -*/ -void MPU6050::setInterruptLatch(bool latch) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch); -} -/** Get interrupt latch clear mode. - Will be set 0 for status-read-only, 1 for any-register-read. - @return Current latch clear mode (0=status-read-only, 1=any-register-read) - @see MPU6050_RA_INT_PIN_CFG - @see MPU6050_INTCFG_INT_RD_CLEAR_BIT -*/ -bool MPU6050::getInterruptLatchClear() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer); - return buffer[0]; -} -/** Set interrupt latch clear mode. - @param clear New latch clear mode (0=status-read-only, 1=any-register-read) - @see getInterruptLatchClear() - @see MPU6050_RA_INT_PIN_CFG - @see MPU6050_INTCFG_INT_RD_CLEAR_BIT -*/ -void MPU6050::setInterruptLatchClear(bool clear) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear); -} -/** Get FSYNC interrupt logic level mode. - @return Current FSYNC interrupt mode (0=active-high, 1=active-low) - @see getFSyncInterruptMode() - @see MPU6050_RA_INT_PIN_CFG - @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT -*/ -bool MPU6050::getFSyncInterruptLevel() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer); - return buffer[0]; -} -/** Set FSYNC interrupt logic level mode. - @param mode New FSYNC interrupt mode (0=active-high, 1=active-low) - @see getFSyncInterruptMode() - @see MPU6050_RA_INT_PIN_CFG - @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT -*/ -void MPU6050::setFSyncInterruptLevel(bool level) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level); -} -/** Get FSYNC pin interrupt enabled setting. - Will be set 0 for disabled, 1 for enabled. - @return Current interrupt enabled setting - @see MPU6050_RA_INT_PIN_CFG - @see MPU6050_INTCFG_FSYNC_INT_EN_BIT -*/ -bool MPU6050::getFSyncInterruptEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer); - return buffer[0]; -} -/** Set FSYNC pin interrupt enabled setting. - @param enabled New FSYNC pin interrupt enabled setting - @see getFSyncInterruptEnabled() - @see MPU6050_RA_INT_PIN_CFG - @see MPU6050_INTCFG_FSYNC_INT_EN_BIT -*/ -void MPU6050::setFSyncInterruptEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled); -} -/** Get I2C bypass enabled status. - When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to - 0, the host application processor will be able to directly access the - auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host - application processor will not be able to directly access the auxiliary I2C - bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106 - bit[5]). - @return Current I2C bypass enabled status - @see MPU6050_RA_INT_PIN_CFG - @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT -*/ -bool MPU6050::getI2CBypassEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer); - return buffer[0]; -} -/** Set I2C bypass enabled status. - When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to - 0, the host application processor will be able to directly access the - auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host - application processor will not be able to directly access the auxiliary I2C - bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106 - bit[5]). - @param enabled New I2C bypass enabled status - @see MPU6050_RA_INT_PIN_CFG - @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT -*/ -void MPU6050::setI2CBypassEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled); -} -/** Get reference clock output enabled status. - When this bit is equal to 1, a reference clock output is provided at the - CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For - further information regarding CLKOUT, please refer to the MPU-60X0 Product - Specification document. - @return Current reference clock output enabled status - @see MPU6050_RA_INT_PIN_CFG - @see MPU6050_INTCFG_CLKOUT_EN_BIT -*/ -bool MPU6050::getClockOutputEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer); - return buffer[0]; -} -/** Set reference clock output enabled status. - When this bit is equal to 1, a reference clock output is provided at the - CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For - further information regarding CLKOUT, please refer to the MPU-60X0 Product - Specification document. - @param enabled New reference clock output enabled status - @see MPU6050_RA_INT_PIN_CFG - @see MPU6050_INTCFG_CLKOUT_EN_BIT -*/ -void MPU6050::setClockOutputEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled); -} - -// INT_ENABLE register - -/** Get full interrupt enabled status. - Full register byte for all interrupts, for quick reading. Each bit will be - set 0 for disabled, 1 for enabled. - @return Current interrupt enabled status - @see MPU6050_RA_INT_ENABLE - @see MPU6050_INTERRUPT_FF_BIT - **/ -uint8_t MPU6050::getIntEnabled() { - I2Cdev::readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer); - return buffer[0]; -} -/** Set full interrupt enabled status. - Full register byte for all interrupts, for quick reading. Each bit should be - set 0 for disabled, 1 for enabled. - @param enabled New interrupt enabled status - @see getIntFreefallEnabled() - @see MPU6050_RA_INT_ENABLE - @see MPU6050_INTERRUPT_FF_BIT - **/ -void MPU6050::setIntEnabled(uint8_t enabled) { - I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled); -} -/** Get Free Fall interrupt enabled status. - Will be set 0 for disabled, 1 for enabled. - @return Current interrupt enabled status - @see MPU6050_RA_INT_ENABLE - @see MPU6050_INTERRUPT_FF_BIT - **/ -bool MPU6050::getIntFreefallEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer); - return buffer[0]; -} -/** Set Free Fall interrupt enabled status. - @param enabled New interrupt enabled status - @see getIntFreefallEnabled() - @see MPU6050_RA_INT_ENABLE - @see MPU6050_INTERRUPT_FF_BIT - **/ -void MPU6050::setIntFreefallEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled); -} -/** Get Motion Detection interrupt enabled status. - Will be set 0 for disabled, 1 for enabled. - @return Current interrupt enabled status - @see MPU6050_RA_INT_ENABLE - @see MPU6050_INTERRUPT_MOT_BIT - **/ -bool MPU6050::getIntMotionEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer); - return buffer[0]; -} -/** Set Motion Detection interrupt enabled status. - @param enabled New interrupt enabled status - @see getIntMotionEnabled() - @see MPU6050_RA_INT_ENABLE - @see MPU6050_INTERRUPT_MOT_BIT - **/ -void MPU6050::setIntMotionEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled); -} -/** Get Zero Motion Detection interrupt enabled status. - Will be set 0 for disabled, 1 for enabled. - @return Current interrupt enabled status - @see MPU6050_RA_INT_ENABLE - @see MPU6050_INTERRUPT_ZMOT_BIT - **/ -bool MPU6050::getIntZeroMotionEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer); - return buffer[0]; -} -/** Set Zero Motion Detection interrupt enabled status. - @param enabled New interrupt enabled status - @see getIntZeroMotionEnabled() - @see MPU6050_RA_INT_ENABLE - @see MPU6050_INTERRUPT_ZMOT_BIT - **/ -void MPU6050::setIntZeroMotionEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled); -} -/** Get FIFO Buffer Overflow interrupt enabled status. - Will be set 0 for disabled, 1 for enabled. - @return Current interrupt enabled status - @see MPU6050_RA_INT_ENABLE - @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT - **/ -bool MPU6050::getIntFIFOBufferOverflowEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer); - return buffer[0]; -} -/** Set FIFO Buffer Overflow interrupt enabled status. - @param enabled New interrupt enabled status - @see getIntFIFOBufferOverflowEnabled() - @see MPU6050_RA_INT_ENABLE - @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT - **/ -void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled); -} -/** Get I2C Master interrupt enabled status. - This enables any of the I2C Master interrupt sources to generate an - interrupt. Will be set 0 for disabled, 1 for enabled. - @return Current interrupt enabled status - @see MPU6050_RA_INT_ENABLE - @see MPU6050_INTERRUPT_I2C_MST_INT_BIT - **/ -bool MPU6050::getIntI2CMasterEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer); - return buffer[0]; -} -/** Set I2C Master interrupt enabled status. - @param enabled New interrupt enabled status - @see getIntI2CMasterEnabled() - @see MPU6050_RA_INT_ENABLE - @see MPU6050_INTERRUPT_I2C_MST_INT_BIT - **/ -void MPU6050::setIntI2CMasterEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled); -} -/** Get Data Ready interrupt enabled setting. - This event occurs each time a write operation to all of the sensor registers - has been completed. Will be set 0 for disabled, 1 for enabled. - @return Current interrupt enabled status - @see MPU6050_RA_INT_ENABLE - @see MPU6050_INTERRUPT_DATA_RDY_BIT -*/ -bool MPU6050::getIntDataReadyEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer); - return buffer[0]; -} -/** Set Data Ready interrupt enabled status. - @param enabled New interrupt enabled status - @see getIntDataReadyEnabled() - @see MPU6050_RA_INT_CFG - @see MPU6050_INTERRUPT_DATA_RDY_BIT -*/ -void MPU6050::setIntDataReadyEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled); -} - -// INT_STATUS register - -/** Get full set of interrupt status bits. - These bits clear to 0 after the register has been read. Very useful - for getting multiple INT statuses, since each single bit read clears - all of them because it has to read the whole byte. - @return Current interrupt status - @see MPU6050_RA_INT_STATUS -*/ -uint8_t MPU6050::getIntStatus() { - I2Cdev::readByte(devAddr, MPU6050_RA_INT_STATUS, buffer); - return buffer[0]; -} -/** Get Free Fall interrupt status. - This bit automatically sets to 1 when a Free Fall interrupt has been - generated. The bit clears to 0 after the register has been read. - @return Current interrupt status - @see MPU6050_RA_INT_STATUS - @see MPU6050_INTERRUPT_FF_BIT -*/ -bool MPU6050::getIntFreefallStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer); - return buffer[0]; -} -/** Get Motion Detection interrupt status. - This bit automatically sets to 1 when a Motion Detection interrupt has been - generated. The bit clears to 0 after the register has been read. - @return Current interrupt status - @see MPU6050_RA_INT_STATUS - @see MPU6050_INTERRUPT_MOT_BIT -*/ -bool MPU6050::getIntMotionStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer); - return buffer[0]; -} -/** Get Zero Motion Detection interrupt status. - This bit automatically sets to 1 when a Zero Motion Detection interrupt has - been generated. The bit clears to 0 after the register has been read. - @return Current interrupt status - @see MPU6050_RA_INT_STATUS - @see MPU6050_INTERRUPT_ZMOT_BIT -*/ -bool MPU6050::getIntZeroMotionStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer); - return buffer[0]; -} -/** Get FIFO Buffer Overflow interrupt status. - This bit automatically sets to 1 when a Free Fall interrupt has been - generated. The bit clears to 0 after the register has been read. - @return Current interrupt status - @see MPU6050_RA_INT_STATUS - @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT -*/ -bool MPU6050::getIntFIFOBufferOverflowStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer); - return buffer[0]; -} -/** Get I2C Master interrupt status. - This bit automatically sets to 1 when an I2C Master interrupt has been - generated. For a list of I2C Master interrupts, please refer to Register 54. - The bit clears to 0 after the register has been read. - @return Current interrupt status - @see MPU6050_RA_INT_STATUS - @see MPU6050_INTERRUPT_I2C_MST_INT_BIT -*/ -bool MPU6050::getIntI2CMasterStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer); - return buffer[0]; -} -/** Get Data Ready interrupt status. - This bit automatically sets to 1 when a Data Ready interrupt has been - generated. The bit clears to 0 after the register has been read. - @return Current interrupt status - @see MPU6050_RA_INT_STATUS - @see MPU6050_INTERRUPT_DATA_RDY_BIT -*/ -bool MPU6050::getIntDataReadyStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer); - return buffer[0]; -} - -// ACCEL_*OUT_* registers - -/** Get raw 9-axis motion sensor readings (accel/gyro/compass). - FUNCTION NOT FULLY IMPLEMENTED YET. - @param ax 16-bit signed integer container for accelerometer X-axis value - @param ay 16-bit signed integer container for accelerometer Y-axis value - @param az 16-bit signed integer container for accelerometer Z-axis value - @param gx 16-bit signed integer container for gyroscope X-axis value - @param gy 16-bit signed integer container for gyroscope Y-axis value - @param gz 16-bit signed integer container for gyroscope Z-axis value - @param mx 16-bit signed integer container for magnetometer X-axis value - @param my 16-bit signed integer container for magnetometer Y-axis value - @param mz 16-bit signed integer container for magnetometer Z-axis value - @see getMotion6() - @see getAcceleration() - @see getRotation() - @see MPU6050_RA_ACCEL_XOUT_H -*/ -void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, - int16_t* my, int16_t* mz) { - - //get accel and gyro - getMotion6(ax, ay, az, gx, gy, gz); - - //read mag - I2Cdev::writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer - delay(10); - I2Cdev::writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); //enable the magnetometer - delay(10); - I2Cdev::readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer); - *mx = (((int16_t)buffer[1]) << 8) | buffer[0]; - *my = (((int16_t)buffer[3]) << 8) | buffer[2]; - *mz = (((int16_t)buffer[5]) << 8) | buffer[4]; -} -/** Get raw 6-axis motion sensor readings (accel/gyro). - Retrieves all currently available motion sensor values. - @param ax 16-bit signed integer container for accelerometer X-axis value - @param ay 16-bit signed integer container for accelerometer Y-axis value - @param az 16-bit signed integer container for accelerometer Z-axis value - @param gx 16-bit signed integer container for gyroscope X-axis value - @param gy 16-bit signed integer container for gyroscope Y-axis value - @param gz 16-bit signed integer container for gyroscope Z-axis value - @see getAcceleration() - @see getRotation() - @see MPU6050_RA_ACCEL_XOUT_H -*/ -void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) { - I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer); - *ax = (((int16_t)buffer[0]) << 8) | buffer[1]; - *ay = (((int16_t)buffer[2]) << 8) | buffer[3]; - *az = (((int16_t)buffer[4]) << 8) | buffer[5]; - *gx = (((int16_t)buffer[8]) << 8) | buffer[9]; - *gy = (((int16_t)buffer[10]) << 8) | buffer[11]; - *gz = (((int16_t)buffer[12]) << 8) | buffer[13]; -} -/** Get 3-axis accelerometer readings. - These registers store the most recent accelerometer measurements. - Accelerometer measurements are written to these registers at the Sample Rate - as defined in Register 25. - - The accelerometer measurement registers, along with the temperature - measurement registers, gyroscope measurement registers, and external sensor - data registers, are composed of two sets of registers: an internal register - set and a user-facing read register set. - - The data within the accelerometer sensors' internal register set is always - updated at the Sample Rate. Meanwhile, the user-facing read register set - duplicates the internal register set's data values whenever the serial - interface is idle. This guarantees that a burst read of sensor registers will - read measurements from the same sampling instant. Note that if burst reads - are not used, the user is responsible for ensuring a set of single byte reads - correspond to a single sampling instant by checking the Data Ready interrupt. - - Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS - (Register 28). For each full scale setting, the accelerometers' sensitivity - per LSB in ACCEL_xOUT is shown in the table below: - - 
-    AFS_SEL | Full Scale Range | LSB Sensitivity
-    --------+------------------+----------------
-    0       | +/- 2g           | 8192 LSB/mg
-    1       | +/- 4g           | 4096 LSB/mg
-    2       | +/- 8g           | 2048 LSB/mg
-    3       | +/- 16g          | 1024 LSB/mg
-
- - @param x 16-bit signed integer container for X-axis acceleration - @param y 16-bit signed integer container for Y-axis acceleration - @param z 16-bit signed integer container for Z-axis acceleration - @see MPU6050_RA_GYRO_XOUT_H -*/ -void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z) { - I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer); - *x = (((int16_t)buffer[0]) << 8) | buffer[1]; - *y = (((int16_t)buffer[2]) << 8) | buffer[3]; - *z = (((int16_t)buffer[4]) << 8) | buffer[5]; -} -/** Get X-axis accelerometer reading. - @return X-axis acceleration measurement in 16-bit 2's complement format - @see getMotion6() - @see MPU6050_RA_ACCEL_XOUT_H -*/ -int16_t MPU6050::getAccelerationX() { - I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer); - return (((int16_t)buffer[0]) << 8) | buffer[1]; -} -/** Get Y-axis accelerometer reading. - @return Y-axis acceleration measurement in 16-bit 2's complement format - @see getMotion6() - @see MPU6050_RA_ACCEL_YOUT_H -*/ -int16_t MPU6050::getAccelerationY() { - I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer); - return (((int16_t)buffer[0]) << 8) | buffer[1]; -} -/** Get Z-axis accelerometer reading. - @return Z-axis acceleration measurement in 16-bit 2's complement format - @see getMotion6() - @see MPU6050_RA_ACCEL_ZOUT_H -*/ -int16_t MPU6050::getAccelerationZ() { - I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer); - return (((int16_t)buffer[0]) << 8) | buffer[1]; -} - -// TEMP_OUT_* registers - -/** Get current internal temperature. - @return Temperature reading in 16-bit 2's complement format - @see MPU6050_RA_TEMP_OUT_H -*/ -int16_t MPU6050::getTemperature() { - I2Cdev::readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer); - return (((int16_t)buffer[0]) << 8) | buffer[1]; -} - -// GYRO_*OUT_* registers - -/** Get 3-axis gyroscope readings. - These gyroscope measurement registers, along with the accelerometer - measurement registers, temperature measurement registers, and external sensor - data registers, are composed of two sets of registers: an internal register - set and a user-facing read register set. - The data within the gyroscope sensors' internal register set is always - updated at the Sample Rate. Meanwhile, the user-facing read register set - duplicates the internal register set's data values whenever the serial - interface is idle. This guarantees that a burst read of sensor registers will - read measurements from the same sampling instant. Note that if burst reads - are not used, the user is responsible for ensuring a set of single byte reads - correspond to a single sampling instant by checking the Data Ready interrupt. - - Each 16-bit gyroscope measurement has a full scale defined in FS_SEL - (Register 27). For each full scale setting, the gyroscopes' sensitivity per - LSB in GYRO_xOUT is shown in the table below: - - 
-    FS_SEL | Full Scale Range   | LSB Sensitivity
-    -------+--------------------+----------------
-    0      | +/- 250 degrees/s  | 131 LSB/deg/s
-    1      | +/- 500 degrees/s  | 65.5 LSB/deg/s
-    2      | +/- 1000 degrees/s | 32.8 LSB/deg/s
-    3      | +/- 2000 degrees/s | 16.4 LSB/deg/s
-
- - @param x 16-bit signed integer container for X-axis rotation - @param y 16-bit signed integer container for Y-axis rotation - @param z 16-bit signed integer container for Z-axis rotation - @see getMotion6() - @see MPU6050_RA_GYRO_XOUT_H -*/ -void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z) { - I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer); - *x = (((int16_t)buffer[0]) << 8) | buffer[1]; - *y = (((int16_t)buffer[2]) << 8) | buffer[3]; - *z = (((int16_t)buffer[4]) << 8) | buffer[5]; -} -/** Get X-axis gyroscope reading. - @return X-axis rotation measurement in 16-bit 2's complement format - @see getMotion6() - @see MPU6050_RA_GYRO_XOUT_H -*/ -int16_t MPU6050::getRotationX() { - I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer); - return (((int16_t)buffer[0]) << 8) | buffer[1]; -} -/** Get Y-axis gyroscope reading. - @return Y-axis rotation measurement in 16-bit 2's complement format - @see getMotion6() - @see MPU6050_RA_GYRO_YOUT_H -*/ -int16_t MPU6050::getRotationY() { - I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer); - return (((int16_t)buffer[0]) << 8) | buffer[1]; -} -/** Get Z-axis gyroscope reading. - @return Z-axis rotation measurement in 16-bit 2's complement format - @see getMotion6() - @see MPU6050_RA_GYRO_ZOUT_H -*/ -int16_t MPU6050::getRotationZ() { - I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer); - return (((int16_t)buffer[0]) << 8) | buffer[1]; -} - -// EXT_SENS_DATA_* registers - -/** Read single byte from external sensor data register. - These registers store data read from external sensors by the Slave 0, 1, 2, - and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in - I2C_SLV4_DI (Register 53). - - External sensor data is written to these registers at the Sample Rate as - defined in Register 25. This access rate can be reduced by using the Slave - Delay Enable registers (Register 103). - - External sensor data registers, along with the gyroscope measurement - registers, accelerometer measurement registers, and temperature measurement - registers, are composed of two sets of registers: an internal register set - and a user-facing read register set. - - The data within the external sensors' internal register set is always updated - at the Sample Rate (or the reduced access rate) whenever the serial interface - is idle. This guarantees that a burst read of sensor registers will read - measurements from the same sampling instant. Note that if burst reads are not - used, the user is responsible for ensuring a set of single byte reads - correspond to a single sampling instant by checking the Data Ready interrupt. - - Data is placed in these external sensor data registers according to - I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39, - 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from - an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as - defined in Register 25) or delayed rate (if specified in Register 52 and - 103). During each Sample cycle, slave reads are performed in order of Slave - number. If all slaves are enabled with more than zero bytes to be read, the - order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3. - - Each enabled slave will have EXT_SENS_DATA registers associated with it by - number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from - EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may - change the higher numbered slaves' associated registers. Furthermore, if - fewer total bytes are being read from the external sensors as a result of - such a change, then the data remaining in the registers which no longer have - an associated slave device (i.e. high numbered registers) will remain in - these previously allocated registers unless reset. - - If the sum of the read lengths of all SLVx transactions exceed the number of - available EXT_SENS_DATA registers, the excess bytes will be dropped. There - are 24 EXT_SENS_DATA registers and hence the total read lengths between all - the slaves cannot be greater than 24 or some bytes will be lost. - - Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further - information regarding the characteristics of Slave 4, please refer to - Registers 49 to 53. - - EXAMPLE: - Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and - I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that - I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00 - through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05 - will be associated with Slave 1. If Slave 2 is enabled as well, registers - starting from EXT_SENS_DATA_06 will be allocated to Slave 2. - - If Slave 2 is disabled while Slave 3 is enabled in this same situation, then - registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3 - instead. - - REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE: - If a slave is disabled at any time, the space initially allocated to the - slave in the EXT_SENS_DATA register, will remain associated with that slave. - This is to avoid dynamic adjustment of the register allocation. - - The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all - slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106). - - This above is also true if one of the slaves gets NACKed and stops - functioning. - - @param position Starting position (0-23) - @return Byte read from register -*/ -uint8_t MPU6050::getExternalSensorByte(int position) { - I2Cdev::readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer); - return buffer[0]; -} -/** Read word (2 bytes) from external sensor data registers. - @param position Starting position (0-21) - @return Word read from register - @see getExternalSensorByte() -*/ -uint16_t MPU6050::getExternalSensorWord(int position) { - I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer); - return (((uint16_t)buffer[0]) << 8) | buffer[1]; -} -/** Read double word (4 bytes) from external sensor data registers. - @param position Starting position (0-20) - @return Double word read from registers - @see getExternalSensorByte() -*/ -uint32_t MPU6050::getExternalSensorDWord(int position) { - I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer); - return (((uint32_t)buffer[0]) << 24) | (((uint32_t)buffer[1]) << 16) | (((uint16_t)buffer[2]) << 8) | buffer[3]; -} - -// MOT_DETECT_STATUS register - -/** Get X-axis negative motion detection interrupt status. - @return Motion detection status - @see MPU6050_RA_MOT_DETECT_STATUS - @see MPU6050_MOTION_MOT_XNEG_BIT -*/ -bool MPU6050::getXNegMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer); - return buffer[0]; -} -/** Get X-axis positive motion detection interrupt status. - @return Motion detection status - @see MPU6050_RA_MOT_DETECT_STATUS - @see MPU6050_MOTION_MOT_XPOS_BIT -*/ -bool MPU6050::getXPosMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer); - return buffer[0]; -} -/** Get Y-axis negative motion detection interrupt status. - @return Motion detection status - @see MPU6050_RA_MOT_DETECT_STATUS - @see MPU6050_MOTION_MOT_YNEG_BIT -*/ -bool MPU6050::getYNegMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer); - return buffer[0]; -} -/** Get Y-axis positive motion detection interrupt status. - @return Motion detection status - @see MPU6050_RA_MOT_DETECT_STATUS - @see MPU6050_MOTION_MOT_YPOS_BIT -*/ -bool MPU6050::getYPosMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer); - return buffer[0]; -} -/** Get Z-axis negative motion detection interrupt status. - @return Motion detection status - @see MPU6050_RA_MOT_DETECT_STATUS - @see MPU6050_MOTION_MOT_ZNEG_BIT -*/ -bool MPU6050::getZNegMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer); - return buffer[0]; -} -/** Get Z-axis positive motion detection interrupt status. - @return Motion detection status - @see MPU6050_RA_MOT_DETECT_STATUS - @see MPU6050_MOTION_MOT_ZPOS_BIT -*/ -bool MPU6050::getZPosMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer); - return buffer[0]; -} -/** Get zero motion detection interrupt status. - @return Motion detection status - @see MPU6050_RA_MOT_DETECT_STATUS - @see MPU6050_MOTION_MOT_ZRMOT_BIT -*/ -bool MPU6050::getZeroMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer); - return buffer[0]; -} - -// I2C_SLV*_DO register - -/** Write byte to Data Output container for specified slave. - This register holds the output data written into Slave when Slave is set to - write mode. For further information regarding Slave control, please - refer to Registers 37 to 39 and immediately following. - @param num Slave number (0-3) - @param data Byte to write - @see MPU6050_RA_I2C_SLV0_DO -*/ -void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data) { - if (num > 3) { - return; - } - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data); -} - -// I2C_MST_DELAY_CTRL register - -/** Get external data shadow delay enabled status. - This register is used to specify the timing of external sensor data - shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external - sensor data is delayed until all data has been received. - @return Current external data shadow delay enabled status. - @see MPU6050_RA_I2C_MST_DELAY_CTRL - @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT -*/ -bool MPU6050::getExternalShadowDelayEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer); - return buffer[0]; -} -/** Set external data shadow delay enabled status. - @param enabled New external data shadow delay enabled status. - @see getExternalShadowDelayEnabled() - @see MPU6050_RA_I2C_MST_DELAY_CTRL - @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT -*/ -void MPU6050::setExternalShadowDelayEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled); -} -/** Get slave delay enabled status. - When a particular slave delay is enabled, the rate of access for the that - slave device is reduced. When a slave's access rate is decreased relative to - the Sample Rate, the slave is accessed every: - - 1 / (1 + I2C_MST_DLY) Samples - - This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25) - and DLPF_CFG (register 26). - - For further information regarding I2C_MST_DLY, please refer to register 52. - For further information regarding the Sample Rate, please refer to register 25. - - @param num Slave number (0-4) - @return Current slave delay enabled status. - @see MPU6050_RA_I2C_MST_DELAY_CTRL - @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT -*/ -bool MPU6050::getSlaveDelayEnabled(uint8_t num) { - // MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc. - if (num > 4) { - return 0; - } - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer); - return buffer[0]; -} -/** Set slave delay enabled status. - @param num Slave number (0-4) - @param enabled New slave delay enabled status. - @see MPU6050_RA_I2C_MST_DELAY_CTRL - @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT -*/ -void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled); -} - -// SIGNAL_PATH_RESET register - -/** Reset gyroscope signal path. - The reset will revert the signal path analog to digital converters and - filters to their power up configurations. - @see MPU6050_RA_SIGNAL_PATH_RESET - @see MPU6050_PATHRESET_GYRO_RESET_BIT -*/ -void MPU6050::resetGyroscopePath() { - I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true); -} -/** Reset accelerometer signal path. - The reset will revert the signal path analog to digital converters and - filters to their power up configurations. - @see MPU6050_RA_SIGNAL_PATH_RESET - @see MPU6050_PATHRESET_ACCEL_RESET_BIT -*/ -void MPU6050::resetAccelerometerPath() { - I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true); -} -/** Reset temperature sensor signal path. - The reset will revert the signal path analog to digital converters and - filters to their power up configurations. - @see MPU6050_RA_SIGNAL_PATH_RESET - @see MPU6050_PATHRESET_TEMP_RESET_BIT -*/ -void MPU6050::resetTemperaturePath() { - I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true); -} - -// MOT_DETECT_CTRL register - -/** Get accelerometer power-on delay. - The accelerometer data path provides samples to the sensor registers, Motion - detection, Zero Motion detection, and Free Fall detection modules. The - signal path contains filters which must be flushed on wake-up with new - samples before the detection modules begin operations. The default wake-up - delay, of 4ms can be lengthened by up to 3ms. This additional delay is - specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select - any value above zero unless instructed otherwise by InvenSense. Please refer - to Section 8 of the MPU-6000/MPU-6050 Product Specification document for - further information regarding the detection modules. - @return Current accelerometer power-on delay - @see MPU6050_RA_MOT_DETECT_CTRL - @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT -*/ -uint8_t MPU6050::getAccelerometerPowerOnDelay() { - I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, - MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer); - return buffer[0]; -} -/** Set accelerometer power-on delay. - @param delay New accelerometer power-on delay (0-3) - @see getAccelerometerPowerOnDelay() - @see MPU6050_RA_MOT_DETECT_CTRL - @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT -*/ -void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay) { - I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, - MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay); -} -/** Get Free Fall detection counter decrement configuration. - Detection is registered by the Free Fall detection module after accelerometer - measurements meet their respective threshold conditions over a specified - number of samples. When the threshold conditions are met, the corresponding - detection counter increments by 1. The user may control the rate at which the - detection counter decrements when the threshold condition is not met by - configuring FF_COUNT. The decrement rate can be set according to the - following table: - - 
-    FF_COUNT | Counter Decrement
-    ---------+------------------
-    0        | Reset
-    1        | 1
-    2        | 2
-    3        | 4
-
- - When FF_COUNT is configured to 0 (reset), any non-qualifying sample will - reset the counter to 0. For further information on Free Fall detection, - please refer to Registers 29 to 32. - - @return Current decrement configuration - @see MPU6050_RA_MOT_DETECT_CTRL - @see MPU6050_DETECT_FF_COUNT_BIT -*/ -uint8_t MPU6050::getFreefallDetectionCounterDecrement() { - I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, - buffer); - return buffer[0]; -} -/** Set Free Fall detection counter decrement configuration. - @param decrement New decrement configuration value - @see getFreefallDetectionCounterDecrement() - @see MPU6050_RA_MOT_DETECT_CTRL - @see MPU6050_DETECT_FF_COUNT_BIT -*/ -void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement) { - I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, - decrement); -} -/** Get Motion detection counter decrement configuration. - Detection is registered by the Motion detection module after accelerometer - measurements meet their respective threshold conditions over a specified - number of samples. When the threshold conditions are met, the corresponding - detection counter increments by 1. The user may control the rate at which the - detection counter decrements when the threshold condition is not met by - configuring MOT_COUNT. The decrement rate can be set according to the - following table: - - 
-    MOT_COUNT | Counter Decrement
-    ----------+------------------
-    0         | Reset
-    1         | 1
-    2         | 2
-    3         | 4
-
- - When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will - reset the counter to 0. For further information on Motion detection, - please refer to Registers 29 to 32. - -*/ -uint8_t MPU6050::getMotionDetectionCounterDecrement() { - I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, - buffer); - return buffer[0]; -} -/** Set Motion detection counter decrement configuration. - @param decrement New decrement configuration value - @see getMotionDetectionCounterDecrement() - @see MPU6050_RA_MOT_DETECT_CTRL - @see MPU6050_DETECT_MOT_COUNT_BIT -*/ -void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement) { - I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, - decrement); -} - -// USER_CTRL register - -/** Get FIFO enabled status. - When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer - cannot be written to or read from while disabled. The FIFO buffer's state - does not change unless the MPU-60X0 is power cycled. - @return Current FIFO enabled status - @see MPU6050_RA_USER_CTRL - @see MPU6050_USERCTRL_FIFO_EN_BIT -*/ -bool MPU6050::getFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set FIFO enabled status. - @param enabled New FIFO enabled status - @see getFIFOEnabled() - @see MPU6050_RA_USER_CTRL - @see MPU6050_USERCTRL_FIFO_EN_BIT -*/ -void MPU6050::setFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled); -} -/** Get I2C Master Mode enabled status. - When this mode is enabled, the MPU-60X0 acts as the I2C Master to the - external sensor slave devices on the auxiliary I2C bus. When this bit is - cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically - driven by the primary I2C bus (SDA and SCL). This is a precondition to - enabling Bypass Mode. For further information regarding Bypass Mode, please - refer to Register 55. - @return Current I2C Master Mode enabled status - @see MPU6050_RA_USER_CTRL - @see MPU6050_USERCTRL_I2C_MST_EN_BIT -*/ -bool MPU6050::getI2CMasterModeEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer); - return buffer[0]; -} -/** Set I2C Master Mode enabled status. - @param enabled New I2C Master Mode enabled status - @see getI2CMasterModeEnabled() - @see MPU6050_RA_USER_CTRL - @see MPU6050_USERCTRL_I2C_MST_EN_BIT -*/ -void MPU6050::setI2CMasterModeEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled); -} -/** Switch from I2C to SPI mode (MPU-6000 only) - If this is set, the primary SPI interface will be enabled in place of the - disabled primary I2C interface. -*/ -void MPU6050::switchSPIEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled); -} -/** Reset the FIFO. - This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This - bit automatically clears to 0 after the reset has been triggered. - @see MPU6050_RA_USER_CTRL - @see MPU6050_USERCTRL_FIFO_RESET_BIT -*/ -void MPU6050::resetFIFO() { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true); -} -/** Reset the I2C Master. - This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0. - This bit automatically clears to 0 after the reset has been triggered. - @see MPU6050_RA_USER_CTRL - @see MPU6050_USERCTRL_I2C_MST_RESET_BIT -*/ -void MPU6050::resetI2CMaster() { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true); -} -/** Reset all sensor registers and signal paths. - When set to 1, this bit resets the signal paths for all sensors (gyroscopes, - accelerometers, and temperature sensor). This operation will also clear the - sensor registers. This bit automatically clears to 0 after the reset has been - triggered. - - When resetting only the signal path (and not the sensor registers), please - use Register 104, SIGNAL_PATH_RESET. - - @see MPU6050_RA_USER_CTRL - @see MPU6050_USERCTRL_SIG_COND_RESET_BIT -*/ -void MPU6050::resetSensors() { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true); -} - -// PWR_MGMT_1 register - -/** Trigger a full device reset. - A small delay of ~50ms may be desirable after triggering a reset. - @see MPU6050_RA_PWR_MGMT_1 - @see MPU6050_PWR1_DEVICE_RESET_BIT -*/ -void MPU6050::reset() { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true); -} -/** Get sleep mode status. - Setting the SLEEP bit in the register puts the device into very low power - sleep mode. In this mode, only the serial interface and internal registers - remain active, allowing for a very low standby current. Clearing this bit - puts the device back into normal mode. To save power, the individual standby - selections for each of the gyros should be used if any gyro axis is not used - by the application. - @return Current sleep mode enabled status - @see MPU6050_RA_PWR_MGMT_1 - @see MPU6050_PWR1_SLEEP_BIT -*/ -bool MPU6050::getSleepEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer); - return buffer[0]; -} -/** Set sleep mode status. - @param enabled New sleep mode enabled status - @see getSleepEnabled() - @see MPU6050_RA_PWR_MGMT_1 - @see MPU6050_PWR1_SLEEP_BIT -*/ -void MPU6050::setSleepEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled); -} -/** Get wake cycle enabled status. - When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle - between sleep mode and waking up to take a single sample of data from active - sensors at a rate determined by LP_WAKE_CTRL (register 108). - @return Current sleep mode enabled status - @see MPU6050_RA_PWR_MGMT_1 - @see MPU6050_PWR1_CYCLE_BIT -*/ -bool MPU6050::getWakeCycleEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer); - return buffer[0]; -} -/** Set wake cycle enabled status. - @param enabled New sleep mode enabled status - @see getWakeCycleEnabled() - @see MPU6050_RA_PWR_MGMT_1 - @see MPU6050_PWR1_CYCLE_BIT -*/ -void MPU6050::setWakeCycleEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled); -} -/** Get temperature sensor enabled status. - Control the usage of the internal temperature sensor. - - Note: this register stores the *disabled* value, but for consistency with the - rest of the code, the function is named and used with standard true/false - values to indicate whether the sensor is enabled or disabled, respectively. - - @return Current temperature sensor enabled status - @see MPU6050_RA_PWR_MGMT_1 - @see MPU6050_PWR1_TEMP_DIS_BIT -*/ -bool MPU6050::getTempSensorEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer); - return buffer[0] == 0; // 1 is actually disabled here -} -/** Set temperature sensor enabled status. - Note: this register stores the *disabled* value, but for consistency with the - rest of the code, the function is named and used with standard true/false - values to indicate whether the sensor is enabled or disabled, respectively. - - @param enabled New temperature sensor enabled status - @see getTempSensorEnabled() - @see MPU6050_RA_PWR_MGMT_1 - @see MPU6050_PWR1_TEMP_DIS_BIT -*/ -void MPU6050::setTempSensorEnabled(bool enabled) { - // 1 is actually disabled here - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled); -} -/** Get clock source setting. - @return Current clock source setting - @see MPU6050_RA_PWR_MGMT_1 - @see MPU6050_PWR1_CLKSEL_BIT - @see MPU6050_PWR1_CLKSEL_LENGTH -*/ -uint8_t MPU6050::getClockSource() { - I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer); - return buffer[0]; -} -/** Set clock source setting. - An internal 8MHz oscillator, gyroscope based clock, or external sources can - be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator - or an external source is chosen as the clock source, the MPU-60X0 can operate - in low power modes with the gyroscopes disabled. - - Upon power up, the MPU-60X0 clock source defaults to the internal oscillator. - However, it is highly recommended that the device be configured to use one of - the gyroscopes (or an external clock source) as the clock reference for - improved stability. The clock source can be selected according to the following table: - - 
-    CLK_SEL | Clock Source
-    --------+--------------------------------------
-    0       | Internal oscillator
-    1       | PLL with X Gyro reference
-    2       | PLL with Y Gyro reference
-    3       | PLL with Z Gyro reference
-    4       | PLL with external 32.768kHz reference
-    5       | PLL with external 19.2MHz reference
-    6       | Reserved
-    7       | Stops the clock and keeps the timing generator in reset
-
- - @param source New clock source setting - @see getClockSource() - @see MPU6050_RA_PWR_MGMT_1 - @see MPU6050_PWR1_CLKSEL_BIT - @see MPU6050_PWR1_CLKSEL_LENGTH -*/ -void MPU6050::setClockSource(uint8_t source) { - I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source); -} - -// PWR_MGMT_2 register - -/** Get wake frequency in Accel-Only Low Power Mode. - The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting - PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode, - the device will power off all devices except for the primary I2C interface, - waking only the accelerometer at fixed intervals to take a single - measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL - as shown below: - - 
-    LP_WAKE_CTRL | Wake-up Frequency
-    -------------+------------------
-    0            | 1.25 Hz
-    1            | 2.5 Hz
-    2            | 5 Hz
-    3            | 10 Hz
-    
-
-    For further information regarding the MPU-60X0's power modes, please refer to
-    Register 107.
-
-    @return Current wake frequency
-    @see MPU6050_RA_PWR_MGMT_2
-*/
-uint8_t MPU6050::getWakeFrequency() {
-    I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH,
-                     buffer);
-    return buffer[0];
-}
-/** Set wake frequency in Accel-Only Low Power Mode.
-    @param frequency New wake frequency
-    @see MPU6050_RA_PWR_MGMT_2
-*/
-void MPU6050::setWakeFrequency(uint8_t frequency) {
-    I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH,
-                      frequency);
-}
-
-/** Get X-axis accelerometer standby enabled status.
-    If enabled, the X-axis will not gather or report data (or use power).
-    @return Current X-axis standby enabled status
-    @see MPU6050_RA_PWR_MGMT_2
-    @see MPU6050_PWR2_STBY_XA_BIT
-*/
-bool MPU6050::getStandbyXAccelEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
-    return buffer[0];
-}
-/** Set X-axis accelerometer standby enabled status.
-    @param New X-axis standby enabled status
-    @see getStandbyXAccelEnabled()
-    @see MPU6050_RA_PWR_MGMT_2
-    @see MPU6050_PWR2_STBY_XA_BIT
-*/
-void MPU6050::setStandbyXAccelEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
-}
-/** Get Y-axis accelerometer standby enabled status.
-    If enabled, the Y-axis will not gather or report data (or use power).
-    @return Current Y-axis standby enabled status
-    @see MPU6050_RA_PWR_MGMT_2
-    @see MPU6050_PWR2_STBY_YA_BIT
-*/
-bool MPU6050::getStandbyYAccelEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
-    return buffer[0];
-}
-/** Set Y-axis accelerometer standby enabled status.
-    @param New Y-axis standby enabled status
-    @see getStandbyYAccelEnabled()
-    @see MPU6050_RA_PWR_MGMT_2
-    @see MPU6050_PWR2_STBY_YA_BIT
-*/
-void MPU6050::setStandbyYAccelEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
-}
-/** Get Z-axis accelerometer standby enabled status.
-    If enabled, the Z-axis will not gather or report data (or use power).
-    @return Current Z-axis standby enabled status
-    @see MPU6050_RA_PWR_MGMT_2
-    @see MPU6050_PWR2_STBY_ZA_BIT
-*/
-bool MPU6050::getStandbyZAccelEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
-    return buffer[0];
-}
-/** Set Z-axis accelerometer standby enabled status.
-    @param New Z-axis standby enabled status
-    @see getStandbyZAccelEnabled()
-    @see MPU6050_RA_PWR_MGMT_2
-    @see MPU6050_PWR2_STBY_ZA_BIT
-*/
-void MPU6050::setStandbyZAccelEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
-}
-/** Get X-axis gyroscope standby enabled status.
-    If enabled, the X-axis will not gather or report data (or use power).
-    @return Current X-axis standby enabled status
-    @see MPU6050_RA_PWR_MGMT_2
-    @see MPU6050_PWR2_STBY_XG_BIT
-*/
-bool MPU6050::getStandbyXGyroEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
-    return buffer[0];
-}
-/** Set X-axis gyroscope standby enabled status.
-    @param New X-axis standby enabled status
-    @see getStandbyXGyroEnabled()
-    @see MPU6050_RA_PWR_MGMT_2
-    @see MPU6050_PWR2_STBY_XG_BIT
-*/
-void MPU6050::setStandbyXGyroEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
-}
-/** Get Y-axis gyroscope standby enabled status.
-    If enabled, the Y-axis will not gather or report data (or use power).
-    @return Current Y-axis standby enabled status
-    @see MPU6050_RA_PWR_MGMT_2
-    @see MPU6050_PWR2_STBY_YG_BIT
-*/
-bool MPU6050::getStandbyYGyroEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
-    return buffer[0];
-}
-/** Set Y-axis gyroscope standby enabled status.
-    @param New Y-axis standby enabled status
-    @see getStandbyYGyroEnabled()
-    @see MPU6050_RA_PWR_MGMT_2
-    @see MPU6050_PWR2_STBY_YG_BIT
-*/
-void MPU6050::setStandbyYGyroEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
-}
-/** Get Z-axis gyroscope standby enabled status.
-    If enabled, the Z-axis will not gather or report data (or use power).
-    @return Current Z-axis standby enabled status
-    @see MPU6050_RA_PWR_MGMT_2
-    @see MPU6050_PWR2_STBY_ZG_BIT
-*/
-bool MPU6050::getStandbyZGyroEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
-    return buffer[0];
-}
-/** Set Z-axis gyroscope standby enabled status.
-    @param New Z-axis standby enabled status
-    @see getStandbyZGyroEnabled()
-    @see MPU6050_RA_PWR_MGMT_2
-    @see MPU6050_PWR2_STBY_ZG_BIT
-*/
-void MPU6050::setStandbyZGyroEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
-}
-
-// FIFO_COUNT* registers
-
-/** Get current FIFO buffer size.
-    This value indicates the number of bytes stored in the FIFO buffer. This
-    number is in turn the number of bytes that can be read from the FIFO buffer
-    and it is directly proportional to the number of samples available given the
-    set of sensor data bound to be stored in the FIFO (register 35 and 36).
-    @return Current FIFO buffer size
-*/
-uint16_t MPU6050::getFIFOCount() {
-    I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
-    return (((uint16_t)buffer[0]) << 8) | buffer[1];
-}
-
-// FIFO_R_W register
-
-/** Get byte from FIFO buffer.
-    This register is used to read and write data from the FIFO buffer. Data is
-    written to the FIFO in order of register number (from lowest to highest). If
-    all the FIFO enable flags (see below) are enabled and all External Sensor
-    Data registers (Registers 73 to 96) are associated with a Slave device, the
-    contents of registers 59 through 96 will be written in order at the Sample
-    Rate.
-
-    The contents of the sensor data registers (Registers 59 to 96) are written
-    into the FIFO buffer when their corresponding FIFO enable flags are set to 1
-    in FIFO_EN (Register 35). An additional flag for the sensor data registers
-    associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
-
-    If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
-    automatically set to 1. This bit is located in INT_STATUS (Register 58).
-    When the FIFO buffer has overflowed, the oldest data will be lost and new
-    data will be written to the FIFO.
-
-    If the FIFO buffer is empty, reading this register will return the last byte
-    that was previously read from the FIFO until new data is available. The user
-    should check FIFO_COUNT to ensure that the FIFO buffer is not read when
-    empty.
-
-    @return Byte from FIFO buffer
-*/
-uint8_t MPU6050::getFIFOByte() {
-    I2Cdev::readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
-    return buffer[0];
-}
-void MPU6050::getFIFOBytes(uint8_t* data, uint8_t length) {
-    I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
-}
-/** Write byte to FIFO buffer.
-    @see getFIFOByte()
-    @see MPU6050_RA_FIFO_R_W
-*/
-void MPU6050::setFIFOByte(uint8_t data) {
-    I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
-}
-
-// WHO_AM_I register
-
-/** Get Device ID.
-    This register is used to verify the identity of the device (0b110100, 0x34).
-    @return Device ID (6 bits only! should be 0x34)
-    @see MPU6050_RA_WHO_AM_I
-    @see MPU6050_WHO_AM_I_BIT
-    @see MPU6050_WHO_AM_I_LENGTH
-*/
-uint8_t MPU6050::getDeviceID() {
-    I2Cdev::readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
-    return buffer[0];
-}
-/** Set Device ID.
-    Write a new ID into the WHO_AM_I register (no idea why this should ever be
-    necessary though).
-    @param id New device ID to set.
-    @see getDeviceID()
-    @see MPU6050_RA_WHO_AM_I
-    @see MPU6050_WHO_AM_I_BIT
-    @see MPU6050_WHO_AM_I_LENGTH
-*/
-void MPU6050::setDeviceID(uint8_t id) {
-    I2Cdev::writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
-}
-
-// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
-
-// XG_OFFS_TC register
-
-uint8_t MPU6050::getOTPBankValid() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
-    return buffer[0];
-}
-void MPU6050::setOTPBankValid(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
-}
-int8_t MPU6050::getXGyroOffset() {
-    I2Cdev::readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
-    return buffer[0];
-}
-void MPU6050::setXGyroOffset(int8_t offset) {
-    I2Cdev::writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
-}
-
-// YG_OFFS_TC register
-
-int8_t MPU6050::getYGyroOffset() {
-    I2Cdev::readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
-    return buffer[0];
-}
-void MPU6050::setYGyroOffset(int8_t offset) {
-    I2Cdev::writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
-}
-
-// ZG_OFFS_TC register
-
-int8_t MPU6050::getZGyroOffset() {
-    I2Cdev::readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
-    return buffer[0];
-}
-void MPU6050::setZGyroOffset(int8_t offset) {
-    I2Cdev::writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
-}
-
-// X_FINE_GAIN register
-
-int8_t MPU6050::getXFineGain() {
-    I2Cdev::readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
-    return buffer[0];
-}
-void MPU6050::setXFineGain(int8_t gain) {
-    I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
-}
-
-// Y_FINE_GAIN register
-
-int8_t MPU6050::getYFineGain() {
-    I2Cdev::readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
-    return buffer[0];
-}
-void MPU6050::setYFineGain(int8_t gain) {
-    I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
-}
-
-// Z_FINE_GAIN register
-
-int8_t MPU6050::getZFineGain() {
-    I2Cdev::readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
-    return buffer[0];
-}
-void MPU6050::setZFineGain(int8_t gain) {
-    I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
-}
-
-// XA_OFFS_* registers
-
-int16_t MPU6050::getXAccelOffset() {
-    I2Cdev::readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
-    return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setXAccelOffset(int16_t offset) {
-    I2Cdev::writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
-}
-
-// YA_OFFS_* register
-
-int16_t MPU6050::getYAccelOffset() {
-    I2Cdev::readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
-    return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setYAccelOffset(int16_t offset) {
-    I2Cdev::writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
-}
-
-// ZA_OFFS_* register
-
-int16_t MPU6050::getZAccelOffset() {
-    I2Cdev::readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
-    return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setZAccelOffset(int16_t offset) {
-    I2Cdev::writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
-}
-
-// XG_OFFS_USR* registers
-
-int16_t MPU6050::getXGyroOffsetUser() {
-    I2Cdev::readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
-    return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setXGyroOffsetUser(int16_t offset) {
-    I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
-}
-
-// YG_OFFS_USR* register
-
-int16_t MPU6050::getYGyroOffsetUser() {
-    I2Cdev::readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
-    return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setYGyroOffsetUser(int16_t offset) {
-    I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
-}
-
-// ZG_OFFS_USR* register
-
-int16_t MPU6050::getZGyroOffsetUser() {
-    I2Cdev::readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
-    return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setZGyroOffsetUser(int16_t offset) {
-    I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
-}
-
-// INT_ENABLE register (DMP functions)
-
-bool MPU6050::getIntPLLReadyEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
-    return buffer[0];
-}
-void MPU6050::setIntPLLReadyEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
-}
-bool MPU6050::getIntDMPEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
-    return buffer[0];
-}
-void MPU6050::setIntDMPEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
-}
-
-// DMP_INT_STATUS
-
-bool MPU6050::getDMPInt5Status() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
-    return buffer[0];
-}
-bool MPU6050::getDMPInt4Status() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
-    return buffer[0];
-}
-bool MPU6050::getDMPInt3Status() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
-    return buffer[0];
-}
-bool MPU6050::getDMPInt2Status() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
-    return buffer[0];
-}
-bool MPU6050::getDMPInt1Status() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
-    return buffer[0];
-}
-bool MPU6050::getDMPInt0Status() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
-    return buffer[0];
-}
-
-// INT_STATUS register (DMP functions)
-
-bool MPU6050::getIntPLLReadyStatus() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
-    return buffer[0];
-}
-bool MPU6050::getIntDMPStatus() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
-    return buffer[0];
-}
-
-// USER_CTRL register (DMP functions)
-
-bool MPU6050::getDMPEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
-    return buffer[0];
-}
-void MPU6050::setDMPEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
-}
-void MPU6050::resetDMP() {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
-}
-
-// BANK_SEL register
-
-void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) {
-    bank &= 0x1F;
-    if (userBank) {
-        bank |= 0x20;
-    }
-    if (prefetchEnabled) {
-        bank |= 0x40;
-    }
-    I2Cdev::writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
-}
-
-// MEM_START_ADDR register
-
-void MPU6050::setMemoryStartAddress(uint8_t address) {
-    I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
-}
-
-// MEM_R_W register
-
-uint8_t MPU6050::readMemoryByte() {
-    I2Cdev::readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
-    return buffer[0];
-}
-void MPU6050::writeMemoryByte(uint8_t data) {
-    I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
-}
-void MPU6050::readMemoryBlock(uint8_t* data, uint16_t dataSize, uint8_t bank, uint8_t address) {
-    setMemoryBank(bank);
-    setMemoryStartAddress(address);
-    uint8_t chunkSize;
-    for (uint16_t i = 0; i < dataSize;) {
-        // determine correct chunk size according to bank position and data size
-        chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
-
-        // make sure we don't go past the data size
-        if (i + chunkSize > dataSize) {
-            chunkSize = dataSize - i;
-        }
-
-        // make sure this chunk doesn't go past the bank boundary (256 bytes)
-        if (chunkSize > 256 - address) {
-            chunkSize = 256 - address;
-        }
-
-        // read the chunk of data as specified
-        I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
-
-        // increase byte index by [chunkSize]
-        i += chunkSize;
-
-        // uint8_t automatically wraps to 0 at 256
-        address += chunkSize;
-
-        // if we aren't done, update bank (if necessary) and address
-        if (i < dataSize) {
-            if (address == 0) {
-                bank++;
-            }
-            setMemoryBank(bank);
-            setMemoryStartAddress(address);
-        }
-    }
-}
-bool MPU6050::writeMemoryBlock(const uint8_t* data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify,
-                               bool useProgMem) {
-    setMemoryBank(bank);
-    setMemoryStartAddress(address);
-    uint8_t chunkSize;
-    uint8_t* verifyBuffer;
-    uint8_t* progBuffer;
-    uint16_t i;
-    uint8_t j;
-    if (verify) {
-        verifyBuffer = (uint8_t*)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
-    }
-    if (useProgMem) {
-        progBuffer = (uint8_t*)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
-    }
-    for (i = 0; i < dataSize;) {
-        // determine correct chunk size according to bank position and data size
-        chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
-
-        // make sure we don't go past the data size
-        if (i + chunkSize > dataSize) {
-            chunkSize = dataSize - i;
-        }
-
-        // make sure this chunk doesn't go past the bank boundary (256 bytes)
-        if (chunkSize > 256 - address) {
-            chunkSize = 256 - address;
-        }
-
-        if (useProgMem) {
-            // write the chunk of data as specified
-            for (j = 0; j < chunkSize; j++) {
-                progBuffer[j] = pgm_read_byte(data + i + j);
-            }
-        } else {
-            // write the chunk of data as specified
-            progBuffer = (uint8_t*)data + i;
-        }
-
-        I2Cdev::writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
-
-        // verify data if needed
-        if (verify && verifyBuffer) {
-            setMemoryBank(bank);
-            setMemoryStartAddress(address);
-            I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
-            if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
-                /*  Serial.print("Block write verification error, bank ");
-                    Serial.print(bank, DEC);
-                    Serial.print(", address ");
-                    Serial.print(address, DEC);
-                    Serial.print("!\nExpected:");
-                    for (j = 0; j < chunkSize; j++) {
-                    Serial.print(" 0x");
-                    if (progBuffer[j] < 16) Serial.print("0");
-                    Serial.print(progBuffer[j], HEX);
-                    }
-                    Serial.print("\nReceived:");
-                    for (uint8_t j = 0; j < chunkSize; j++) {
-                    Serial.print(" 0x");
-                    if (verifyBuffer[i + j] < 16) Serial.print("0");
-                    Serial.print(verifyBuffer[i + j], HEX);
-                    }
-                    Serial.print("\n");*/
-                free(verifyBuffer);
-                if (useProgMem) {
-                    free(progBuffer);
-                }
-                return false; // uh oh.
-            }
-        }
-
-        // increase byte index by [chunkSize]
-        i += chunkSize;
-
-        // uint8_t automatically wraps to 0 at 256
-        address += chunkSize;
-
-        // if we aren't done, update bank (if necessary) and address
-        if (i < dataSize) {
-            if (address == 0) {
-                bank++;
-            }
-            setMemoryBank(bank);
-            setMemoryStartAddress(address);
-        }
-    }
-    if (verify) {
-        free(verifyBuffer);
-    }
-    if (useProgMem) {
-        free(progBuffer);
-    }
-    return true;
-}
-bool MPU6050::writeProgMemoryBlock(const uint8_t* data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
-    return writeMemoryBlock(data, dataSize, bank, address, verify, true);
-}
-bool MPU6050::writeDMPConfigurationSet(const uint8_t* data, uint16_t dataSize, bool useProgMem) {
-    uint8_t* progBuffer, success, special;
-    uint16_t i, j;
-    if (useProgMem) {
-        progBuffer = (uint8_t*)malloc(8);  // assume 8-byte blocks, realloc later if necessary
-    }
-
-    // config set data is a long string of blocks with the following structure:
-    // [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
-    uint8_t bank, offset, length;
-    for (i = 0; i < dataSize;) {
-        if (useProgMem) {
-            bank = pgm_read_byte(data + i++);
-            offset = pgm_read_byte(data + i++);
-            length = pgm_read_byte(data + i++);
-        } else {
-            bank = data[i++];
-            offset = data[i++];
-            length = data[i++];
-        }
-
-        // write data or perform special action
-        if (length > 0) {
-            // regular block of data to write
-            /*  Serial.print("Writing config block to bank ");
-                Serial.print(bank);
-                Serial.print(", offset ");
-                Serial.print(offset);
-                Serial.print(", length=");
-                Serial.println(length);*/
-            if (useProgMem) {
-                if (sizeof(progBuffer) < length) {
-                    progBuffer = (uint8_t*)realloc(progBuffer, length);
-                }
-                for (j = 0; j < length; j++) {
-                    progBuffer[j] = pgm_read_byte(data + i + j);
-                }
-            } else {
-                progBuffer = (uint8_t*)data + i;
-            }
-            success = writeMemoryBlock(progBuffer, length, bank, offset, true);
-            i += length;
-        } else {
-            // special instruction
-            // NOTE: this kind of behavior (what and when to do certain things)
-            // is totally undocumented. This code is in here based on observed
-            // behavior only, and exactly why (or even whether) it has to be here
-            // is anybody's guess for now.
-            if (useProgMem) {
-                special = pgm_read_byte(data + i++);
-            } else {
-                special = data[i++];
-            }
-            /*  Serial.print("Special command code ");
-                Serial.print(special, HEX);
-                Serial.println(" found...");*/
-            if (special == 0x01) {
-                // enable DMP-related interrupts
-
-                //setIntZeroMotionEnabled(true);
-                //setIntFIFOBufferOverflowEnabled(true);
-                //setIntDMPEnabled(true);
-                I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32);  // single operation
-
-                success = true;
-            } else {
-                // unknown special command
-                success = false;
-            }
-        }
-
-        if (!success) {
-            if (useProgMem) {
-                free(progBuffer);
-            }
-            return false; // uh oh
-        }
-    }
-    if (useProgMem) {
-        free(progBuffer);
-    }
-    return true;
-}
-bool MPU6050::writeProgDMPConfigurationSet(const uint8_t* data, uint16_t dataSize) {
-    return writeDMPConfigurationSet(data, dataSize, true);
-}
-
-// DMP_CFG_1 register
-
-uint8_t MPU6050::getDMPConfig1() {
-    I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer);
-    return buffer[0];
-}
-void MPU6050::setDMPConfig1(uint8_t config) {
-    I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
-}
-
-// DMP_CFG_2 register
-
-uint8_t MPU6050::getDMPConfig2() {
-    I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer);
-    return buffer[0];
-}
-void MPU6050::setDMPConfig2(uint8_t config) {
-    I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
-}
\ No newline at end of file
diff --git a/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe-imu/MPU6050.h b/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe-imu/MPU6050.h
deleted file mode 100644
index d6f7848..0000000
--- a/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe-imu/MPU6050.h
+++ /dev/null
@@ -1,997 +0,0 @@
-// I2Cdev library collection - MPU6050 I2C device class
-// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
-// 10/3/2011 by Jeff Rowberg 
-// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
-//
-// Changelog:
-//     ... - ongoing debug release
-
-// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
-// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
-// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
-
-/*  ============================================
-    I2Cdev device library code is placed under the MIT license
-    Copyright (c) 2012 Jeff Rowberg
-
-    Permission is hereby granted, free of charge, to any person obtaining a copy
-    of this software and associated documentation files (the "Software"), to deal
-    in the Software without restriction, including without limitation the rights
-    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-    copies of the Software, and to permit persons to whom the Software is
-    furnished to do so, subject to the following conditions:
-
-    The above copyright notice and this permission notice shall be included in
-    all copies or substantial portions of the Software.
-
-    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-    THE SOFTWARE.
-    ===============================================
-*/
-
-#ifndef _MPU6050_H_
-#define _MPU6050_H_
-
-#include "I2Cdev.h"
-#include 
-
-//Magnetometer Registers
-#define MPU9150_RA_MAG_ADDRESS		0x0C
-#define MPU9150_RA_MAG_XOUT_L		0x03
-#define MPU9150_RA_MAG_XOUT_H		0x04
-#define MPU9150_RA_MAG_YOUT_L		0x05
-#define MPU9150_RA_MAG_YOUT_H		0x06
-#define MPU9150_RA_MAG_ZOUT_L		0x07
-#define MPU9150_RA_MAG_ZOUT_H		0x08
-
-#define MPU6050_ADDRESS_AD0_LOW     0x68 // address pin low (GND), default for InvenSense evaluation board
-#define MPU6050_ADDRESS_AD0_HIGH    0x69 // address pin high (VCC)
-#define MPU6050_DEFAULT_ADDRESS     MPU6050_ADDRESS_AD0_LOW
-
-#define MPU6050_RA_XG_OFFS_TC       0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
-#define MPU6050_RA_YG_OFFS_TC       0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
-#define MPU6050_RA_ZG_OFFS_TC       0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
-#define MPU6050_RA_X_FINE_GAIN      0x03 //[7:0] X_FINE_GAIN
-#define MPU6050_RA_Y_FINE_GAIN      0x04 //[7:0] Y_FINE_GAIN
-#define MPU6050_RA_Z_FINE_GAIN      0x05 //[7:0] Z_FINE_GAIN
-#define MPU6050_RA_XA_OFFS_H        0x06 //[15:0] XA_OFFS
-#define MPU6050_RA_XA_OFFS_L_TC     0x07
-#define MPU6050_RA_YA_OFFS_H        0x08 //[15:0] YA_OFFS
-#define MPU6050_RA_YA_OFFS_L_TC     0x09
-#define MPU6050_RA_ZA_OFFS_H        0x0A //[15:0] ZA_OFFS
-#define MPU6050_RA_ZA_OFFS_L_TC     0x0B
-#define MPU6050_RA_XG_OFFS_USRH     0x13 //[15:0] XG_OFFS_USR
-#define MPU6050_RA_XG_OFFS_USRL     0x14
-#define MPU6050_RA_YG_OFFS_USRH     0x15 //[15:0] YG_OFFS_USR
-#define MPU6050_RA_YG_OFFS_USRL     0x16
-#define MPU6050_RA_ZG_OFFS_USRH     0x17 //[15:0] ZG_OFFS_USR
-#define MPU6050_RA_ZG_OFFS_USRL     0x18
-#define MPU6050_RA_SMPLRT_DIV       0x19
-#define MPU6050_RA_CONFIG           0x1A
-#define MPU6050_RA_GYRO_CONFIG      0x1B
-#define MPU6050_RA_ACCEL_CONFIG     0x1C
-#define MPU6050_RA_FF_THR           0x1D
-#define MPU6050_RA_FF_DUR           0x1E
-#define MPU6050_RA_MOT_THR          0x1F
-#define MPU6050_RA_MOT_DUR          0x20
-#define MPU6050_RA_ZRMOT_THR        0x21
-#define MPU6050_RA_ZRMOT_DUR        0x22
-#define MPU6050_RA_FIFO_EN          0x23
-#define MPU6050_RA_I2C_MST_CTRL     0x24
-#define MPU6050_RA_I2C_SLV0_ADDR    0x25
-#define MPU6050_RA_I2C_SLV0_REG     0x26
-#define MPU6050_RA_I2C_SLV0_CTRL    0x27
-#define MPU6050_RA_I2C_SLV1_ADDR    0x28
-#define MPU6050_RA_I2C_SLV1_REG     0x29
-#define MPU6050_RA_I2C_SLV1_CTRL    0x2A
-#define MPU6050_RA_I2C_SLV2_ADDR    0x2B
-#define MPU6050_RA_I2C_SLV2_REG     0x2C
-#define MPU6050_RA_I2C_SLV2_CTRL    0x2D
-#define MPU6050_RA_I2C_SLV3_ADDR    0x2E
-#define MPU6050_RA_I2C_SLV3_REG     0x2F
-#define MPU6050_RA_I2C_SLV3_CTRL    0x30
-#define MPU6050_RA_I2C_SLV4_ADDR    0x31
-#define MPU6050_RA_I2C_SLV4_REG     0x32
-#define MPU6050_RA_I2C_SLV4_DO      0x33
-#define MPU6050_RA_I2C_SLV4_CTRL    0x34
-#define MPU6050_RA_I2C_SLV4_DI      0x35
-#define MPU6050_RA_I2C_MST_STATUS   0x36
-#define MPU6050_RA_INT_PIN_CFG      0x37
-#define MPU6050_RA_INT_ENABLE       0x38
-#define MPU6050_RA_DMP_INT_STATUS   0x39
-#define MPU6050_RA_INT_STATUS       0x3A
-#define MPU6050_RA_ACCEL_XOUT_H     0x3B
-#define MPU6050_RA_ACCEL_XOUT_L     0x3C
-#define MPU6050_RA_ACCEL_YOUT_H     0x3D
-#define MPU6050_RA_ACCEL_YOUT_L     0x3E
-#define MPU6050_RA_ACCEL_ZOUT_H     0x3F
-#define MPU6050_RA_ACCEL_ZOUT_L     0x40
-#define MPU6050_RA_TEMP_OUT_H       0x41
-#define MPU6050_RA_TEMP_OUT_L       0x42
-#define MPU6050_RA_GYRO_XOUT_H      0x43
-#define MPU6050_RA_GYRO_XOUT_L      0x44
-#define MPU6050_RA_GYRO_YOUT_H      0x45
-#define MPU6050_RA_GYRO_YOUT_L      0x46
-#define MPU6050_RA_GYRO_ZOUT_H      0x47
-#define MPU6050_RA_GYRO_ZOUT_L      0x48
-#define MPU6050_RA_EXT_SENS_DATA_00 0x49
-#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
-#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
-#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
-#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
-#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
-#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
-#define MPU6050_RA_EXT_SENS_DATA_07 0x50
-#define MPU6050_RA_EXT_SENS_DATA_08 0x51
-#define MPU6050_RA_EXT_SENS_DATA_09 0x52
-#define MPU6050_RA_EXT_SENS_DATA_10 0x53
-#define MPU6050_RA_EXT_SENS_DATA_11 0x54
-#define MPU6050_RA_EXT_SENS_DATA_12 0x55
-#define MPU6050_RA_EXT_SENS_DATA_13 0x56
-#define MPU6050_RA_EXT_SENS_DATA_14 0x57
-#define MPU6050_RA_EXT_SENS_DATA_15 0x58
-#define MPU6050_RA_EXT_SENS_DATA_16 0x59
-#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
-#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
-#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
-#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
-#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
-#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
-#define MPU6050_RA_EXT_SENS_DATA_23 0x60
-#define MPU6050_RA_MOT_DETECT_STATUS    0x61
-#define MPU6050_RA_I2C_SLV0_DO      0x63
-#define MPU6050_RA_I2C_SLV1_DO      0x64
-#define MPU6050_RA_I2C_SLV2_DO      0x65
-#define MPU6050_RA_I2C_SLV3_DO      0x66
-#define MPU6050_RA_I2C_MST_DELAY_CTRL   0x67
-#define MPU6050_RA_SIGNAL_PATH_RESET    0x68
-#define MPU6050_RA_MOT_DETECT_CTRL      0x69
-#define MPU6050_RA_USER_CTRL        0x6A
-#define MPU6050_RA_PWR_MGMT_1       0x6B
-#define MPU6050_RA_PWR_MGMT_2       0x6C
-#define MPU6050_RA_BANK_SEL         0x6D
-#define MPU6050_RA_MEM_START_ADDR   0x6E
-#define MPU6050_RA_MEM_R_W          0x6F
-#define MPU6050_RA_DMP_CFG_1        0x70
-#define MPU6050_RA_DMP_CFG_2        0x71
-#define MPU6050_RA_FIFO_COUNTH      0x72
-#define MPU6050_RA_FIFO_COUNTL      0x73
-#define MPU6050_RA_FIFO_R_W         0x74
-#define MPU6050_RA_WHO_AM_I         0x75
-
-#define MPU6050_TC_PWR_MODE_BIT     7
-#define MPU6050_TC_OFFSET_BIT       6
-#define MPU6050_TC_OFFSET_LENGTH    6
-#define MPU6050_TC_OTP_BNK_VLD_BIT  0
-
-#define MPU6050_VDDIO_LEVEL_VLOGIC  0
-#define MPU6050_VDDIO_LEVEL_VDD     1
-
-#define MPU6050_CFG_EXT_SYNC_SET_BIT    5
-#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
-#define MPU6050_CFG_DLPF_CFG_BIT    2
-#define MPU6050_CFG_DLPF_CFG_LENGTH 3
-
-#define MPU6050_EXT_SYNC_DISABLED       0x0
-#define MPU6050_EXT_SYNC_TEMP_OUT_L     0x1
-#define MPU6050_EXT_SYNC_GYRO_XOUT_L    0x2
-#define MPU6050_EXT_SYNC_GYRO_YOUT_L    0x3
-#define MPU6050_EXT_SYNC_GYRO_ZOUT_L    0x4
-#define MPU6050_EXT_SYNC_ACCEL_XOUT_L   0x5
-#define MPU6050_EXT_SYNC_ACCEL_YOUT_L   0x6
-#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L   0x7
-
-#define MPU6050_DLPF_BW_256         0x00
-#define MPU6050_DLPF_BW_188         0x01
-#define MPU6050_DLPF_BW_98          0x02
-#define MPU6050_DLPF_BW_42          0x03
-#define MPU6050_DLPF_BW_20          0x04
-#define MPU6050_DLPF_BW_10          0x05
-#define MPU6050_DLPF_BW_5           0x06
-
-#define MPU6050_GCONFIG_FS_SEL_BIT      4
-#define MPU6050_GCONFIG_FS_SEL_LENGTH   2
-
-#define MPU6050_GYRO_FS_250         0x00
-#define MPU6050_GYRO_FS_500         0x01
-#define MPU6050_GYRO_FS_1000        0x02
-#define MPU6050_GYRO_FS_2000        0x03
-
-#define MPU6050_ACONFIG_XA_ST_BIT           7
-#define MPU6050_ACONFIG_YA_ST_BIT           6
-#define MPU6050_ACONFIG_ZA_ST_BIT           5
-#define MPU6050_ACONFIG_AFS_SEL_BIT         4
-#define MPU6050_ACONFIG_AFS_SEL_LENGTH      2
-#define MPU6050_ACONFIG_ACCEL_HPF_BIT       2
-#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH    3
-
-#define MPU6050_ACCEL_FS_2          0x00
-#define MPU6050_ACCEL_FS_4          0x01
-#define MPU6050_ACCEL_FS_8          0x02
-#define MPU6050_ACCEL_FS_16         0x03
-
-#define MPU6050_DHPF_RESET          0x00
-#define MPU6050_DHPF_5              0x01
-#define MPU6050_DHPF_2P5            0x02
-#define MPU6050_DHPF_1P25           0x03
-#define MPU6050_DHPF_0P63           0x04
-#define MPU6050_DHPF_HOLD           0x07
-
-#define MPU6050_TEMP_FIFO_EN_BIT    7
-#define MPU6050_XG_FIFO_EN_BIT      6
-#define MPU6050_YG_FIFO_EN_BIT      5
-#define MPU6050_ZG_FIFO_EN_BIT      4
-#define MPU6050_ACCEL_FIFO_EN_BIT   3
-#define MPU6050_SLV2_FIFO_EN_BIT    2
-#define MPU6050_SLV1_FIFO_EN_BIT    1
-#define MPU6050_SLV0_FIFO_EN_BIT    0
-
-#define MPU6050_MULT_MST_EN_BIT     7
-#define MPU6050_WAIT_FOR_ES_BIT     6
-#define MPU6050_SLV_3_FIFO_EN_BIT   5
-#define MPU6050_I2C_MST_P_NSR_BIT   4
-#define MPU6050_I2C_MST_CLK_BIT     3
-#define MPU6050_I2C_MST_CLK_LENGTH  4
-
-#define MPU6050_CLOCK_DIV_348       0x0
-#define MPU6050_CLOCK_DIV_333       0x1
-#define MPU6050_CLOCK_DIV_320       0x2
-#define MPU6050_CLOCK_DIV_308       0x3
-#define MPU6050_CLOCK_DIV_296       0x4
-#define MPU6050_CLOCK_DIV_286       0x5
-#define MPU6050_CLOCK_DIV_276       0x6
-#define MPU6050_CLOCK_DIV_267       0x7
-#define MPU6050_CLOCK_DIV_258       0x8
-#define MPU6050_CLOCK_DIV_500       0x9
-#define MPU6050_CLOCK_DIV_471       0xA
-#define MPU6050_CLOCK_DIV_444       0xB
-#define MPU6050_CLOCK_DIV_421       0xC
-#define MPU6050_CLOCK_DIV_400       0xD
-#define MPU6050_CLOCK_DIV_381       0xE
-#define MPU6050_CLOCK_DIV_364       0xF
-
-#define MPU6050_I2C_SLV_RW_BIT      7
-#define MPU6050_I2C_SLV_ADDR_BIT    6
-#define MPU6050_I2C_SLV_ADDR_LENGTH 7
-#define MPU6050_I2C_SLV_EN_BIT      7
-#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
-#define MPU6050_I2C_SLV_REG_DIS_BIT 5
-#define MPU6050_I2C_SLV_GRP_BIT     4
-#define MPU6050_I2C_SLV_LEN_BIT     3
-#define MPU6050_I2C_SLV_LEN_LENGTH  4
-
-#define MPU6050_I2C_SLV4_RW_BIT         7
-#define MPU6050_I2C_SLV4_ADDR_BIT       6
-#define MPU6050_I2C_SLV4_ADDR_LENGTH    7
-#define MPU6050_I2C_SLV4_EN_BIT         7
-#define MPU6050_I2C_SLV4_INT_EN_BIT     6
-#define MPU6050_I2C_SLV4_REG_DIS_BIT    5
-#define MPU6050_I2C_SLV4_MST_DLY_BIT    4
-#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
-
-#define MPU6050_MST_PASS_THROUGH_BIT    7
-#define MPU6050_MST_I2C_SLV4_DONE_BIT   6
-#define MPU6050_MST_I2C_LOST_ARB_BIT    5
-#define MPU6050_MST_I2C_SLV4_NACK_BIT   4
-#define MPU6050_MST_I2C_SLV3_NACK_BIT   3
-#define MPU6050_MST_I2C_SLV2_NACK_BIT   2
-#define MPU6050_MST_I2C_SLV1_NACK_BIT   1
-#define MPU6050_MST_I2C_SLV0_NACK_BIT   0
-
-#define MPU6050_INTCFG_INT_LEVEL_BIT        7
-#define MPU6050_INTCFG_INT_OPEN_BIT         6
-#define MPU6050_INTCFG_LATCH_INT_EN_BIT     5
-#define MPU6050_INTCFG_INT_RD_CLEAR_BIT     4
-#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT  3
-#define MPU6050_INTCFG_FSYNC_INT_EN_BIT     2
-#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT    1
-#define MPU6050_INTCFG_CLKOUT_EN_BIT        0
-
-#define MPU6050_INTMODE_ACTIVEHIGH  0x00
-#define MPU6050_INTMODE_ACTIVELOW   0x01
-
-#define MPU6050_INTDRV_PUSHPULL     0x00
-#define MPU6050_INTDRV_OPENDRAIN    0x01
-
-#define MPU6050_INTLATCH_50USPULSE  0x00
-#define MPU6050_INTLATCH_WAITCLEAR  0x01
-
-#define MPU6050_INTCLEAR_STATUSREAD 0x00
-#define MPU6050_INTCLEAR_ANYREAD    0x01
-
-#define MPU6050_INTERRUPT_FF_BIT            7
-#define MPU6050_INTERRUPT_MOT_BIT           6
-#define MPU6050_INTERRUPT_ZMOT_BIT          5
-#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT    4
-#define MPU6050_INTERRUPT_I2C_MST_INT_BIT   3
-#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT   2
-#define MPU6050_INTERRUPT_DMP_INT_BIT       1
-#define MPU6050_INTERRUPT_DATA_RDY_BIT      0
-
-// TODO: figure out what these actually do
-// UMPL source code is not very obivous
-#define MPU6050_DMPINT_5_BIT            5
-#define MPU6050_DMPINT_4_BIT            4
-#define MPU6050_DMPINT_3_BIT            3
-#define MPU6050_DMPINT_2_BIT            2
-#define MPU6050_DMPINT_1_BIT            1
-#define MPU6050_DMPINT_0_BIT            0
-
-#define MPU6050_MOTION_MOT_XNEG_BIT     7
-#define MPU6050_MOTION_MOT_XPOS_BIT     6
-#define MPU6050_MOTION_MOT_YNEG_BIT     5
-#define MPU6050_MOTION_MOT_YPOS_BIT     4
-#define MPU6050_MOTION_MOT_ZNEG_BIT     3
-#define MPU6050_MOTION_MOT_ZPOS_BIT     2
-#define MPU6050_MOTION_MOT_ZRMOT_BIT    0
-
-#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT   7
-#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT   4
-#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT   3
-#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT   2
-#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT   1
-#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT   0
-
-#define MPU6050_PATHRESET_GYRO_RESET_BIT    2
-#define MPU6050_PATHRESET_ACCEL_RESET_BIT   1
-#define MPU6050_PATHRESET_TEMP_RESET_BIT    0
-
-#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT       5
-#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH    2
-#define MPU6050_DETECT_FF_COUNT_BIT             3
-#define MPU6050_DETECT_FF_COUNT_LENGTH          2
-#define MPU6050_DETECT_MOT_COUNT_BIT            1
-#define MPU6050_DETECT_MOT_COUNT_LENGTH         2
-
-#define MPU6050_DETECT_DECREMENT_RESET  0x0
-#define MPU6050_DETECT_DECREMENT_1      0x1
-#define MPU6050_DETECT_DECREMENT_2      0x2
-#define MPU6050_DETECT_DECREMENT_4      0x3
-
-#define MPU6050_USERCTRL_DMP_EN_BIT             7
-#define MPU6050_USERCTRL_FIFO_EN_BIT            6
-#define MPU6050_USERCTRL_I2C_MST_EN_BIT         5
-#define MPU6050_USERCTRL_I2C_IF_DIS_BIT         4
-#define MPU6050_USERCTRL_DMP_RESET_BIT          3
-#define MPU6050_USERCTRL_FIFO_RESET_BIT         2
-#define MPU6050_USERCTRL_I2C_MST_RESET_BIT      1
-#define MPU6050_USERCTRL_SIG_COND_RESET_BIT     0
-
-#define MPU6050_PWR1_DEVICE_RESET_BIT   7
-#define MPU6050_PWR1_SLEEP_BIT          6
-#define MPU6050_PWR1_CYCLE_BIT          5
-#define MPU6050_PWR1_TEMP_DIS_BIT       3
-#define MPU6050_PWR1_CLKSEL_BIT         2
-#define MPU6050_PWR1_CLKSEL_LENGTH      3
-
-#define MPU6050_CLOCK_INTERNAL          0x00
-#define MPU6050_CLOCK_PLL_XGYRO         0x01
-#define MPU6050_CLOCK_PLL_YGYRO         0x02
-#define MPU6050_CLOCK_PLL_ZGYRO         0x03
-#define MPU6050_CLOCK_PLL_EXT32K        0x04
-#define MPU6050_CLOCK_PLL_EXT19M        0x05
-#define MPU6050_CLOCK_KEEP_RESET        0x07
-
-#define MPU6050_PWR2_LP_WAKE_CTRL_BIT       7
-#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH    2
-#define MPU6050_PWR2_STBY_XA_BIT            5
-#define MPU6050_PWR2_STBY_YA_BIT            4
-#define MPU6050_PWR2_STBY_ZA_BIT            3
-#define MPU6050_PWR2_STBY_XG_BIT            2
-#define MPU6050_PWR2_STBY_YG_BIT            1
-#define MPU6050_PWR2_STBY_ZG_BIT            0
-
-#define MPU6050_WAKE_FREQ_1P25      0x0
-#define MPU6050_WAKE_FREQ_2P5       0x1
-#define MPU6050_WAKE_FREQ_5         0x2
-#define MPU6050_WAKE_FREQ_10        0x3
-
-#define MPU6050_BANKSEL_PRFTCH_EN_BIT       6
-#define MPU6050_BANKSEL_CFG_USER_BANK_BIT   5
-#define MPU6050_BANKSEL_MEM_SEL_BIT         4
-#define MPU6050_BANKSEL_MEM_SEL_LENGTH      5
-
-#define MPU6050_WHO_AM_I_BIT        6
-#define MPU6050_WHO_AM_I_LENGTH     6
-
-#define MPU6050_DMP_MEMORY_BANKS        8
-#define MPU6050_DMP_MEMORY_BANK_SIZE    256
-#define MPU6050_DMP_MEMORY_CHUNK_SIZE   16
-
-// note: DMP code memory blocks defined at end of header file
-
-class MPU6050 {
-  public:
-    MPU6050();
-    MPU6050(uint8_t address);
-
-    void initialize();
-    bool testConnection();
-
-    // AUX_VDDIO register
-    uint8_t getAuxVDDIOLevel();
-    void setAuxVDDIOLevel(uint8_t level);
-
-    // SMPLRT_DIV register
-    uint8_t getRate();
-    void setRate(uint8_t rate);
-
-    // CONFIG register
-    uint8_t getExternalFrameSync();
-    void setExternalFrameSync(uint8_t sync);
-    uint8_t getDLPFMode();
-    void setDLPFMode(uint8_t bandwidth);
-
-    // GYRO_CONFIG register
-    uint8_t getFullScaleGyroRange();
-    void setFullScaleGyroRange(uint8_t range);
-
-    // ACCEL_CONFIG register
-    bool getAccelXSelfTest();
-    void setAccelXSelfTest(bool enabled);
-    bool getAccelYSelfTest();
-    void setAccelYSelfTest(bool enabled);
-    bool getAccelZSelfTest();
-    void setAccelZSelfTest(bool enabled);
-    uint8_t getFullScaleAccelRange();
-    void setFullScaleAccelRange(uint8_t range);
-    uint8_t getDHPFMode();
-    void setDHPFMode(uint8_t mode);
-
-    // FF_THR register
-    uint8_t getFreefallDetectionThreshold();
-    void setFreefallDetectionThreshold(uint8_t threshold);
-
-    // FF_DUR register
-    uint8_t getFreefallDetectionDuration();
-    void setFreefallDetectionDuration(uint8_t duration);
-
-    // MOT_THR register
-    uint8_t getMotionDetectionThreshold();
-    void setMotionDetectionThreshold(uint8_t threshold);
-
-    // MOT_DUR register
-    uint8_t getMotionDetectionDuration();
-    void setMotionDetectionDuration(uint8_t duration);
-
-    // ZRMOT_THR register
-    uint8_t getZeroMotionDetectionThreshold();
-    void setZeroMotionDetectionThreshold(uint8_t threshold);
-
-    // ZRMOT_DUR register
-    uint8_t getZeroMotionDetectionDuration();
-    void setZeroMotionDetectionDuration(uint8_t duration);
-
-    // FIFO_EN register
-    bool getTempFIFOEnabled();
-    void setTempFIFOEnabled(bool enabled);
-    bool getXGyroFIFOEnabled();
-    void setXGyroFIFOEnabled(bool enabled);
-    bool getYGyroFIFOEnabled();
-    void setYGyroFIFOEnabled(bool enabled);
-    bool getZGyroFIFOEnabled();
-    void setZGyroFIFOEnabled(bool enabled);
-    bool getAccelFIFOEnabled();
-    void setAccelFIFOEnabled(bool enabled);
-    bool getSlave2FIFOEnabled();
-    void setSlave2FIFOEnabled(bool enabled);
-    bool getSlave1FIFOEnabled();
-    void setSlave1FIFOEnabled(bool enabled);
-    bool getSlave0FIFOEnabled();
-    void setSlave0FIFOEnabled(bool enabled);
-
-    // I2C_MST_CTRL register
-    bool getMultiMasterEnabled();
-    void setMultiMasterEnabled(bool enabled);
-    bool getWaitForExternalSensorEnabled();
-    void setWaitForExternalSensorEnabled(bool enabled);
-    bool getSlave3FIFOEnabled();
-    void setSlave3FIFOEnabled(bool enabled);
-    bool getSlaveReadWriteTransitionEnabled();
-    void setSlaveReadWriteTransitionEnabled(bool enabled);
-    uint8_t getMasterClockSpeed();
-    void setMasterClockSpeed(uint8_t speed);
-
-    // I2C_SLV* registers (Slave 0-3)
-    uint8_t getSlaveAddress(uint8_t num);
-    void setSlaveAddress(uint8_t num, uint8_t address);
-    uint8_t getSlaveRegister(uint8_t num);
-    void setSlaveRegister(uint8_t num, uint8_t reg);
-    bool getSlaveEnabled(uint8_t num);
-    void setSlaveEnabled(uint8_t num, bool enabled);
-    bool getSlaveWordByteSwap(uint8_t num);
-    void setSlaveWordByteSwap(uint8_t num, bool enabled);
-    bool getSlaveWriteMode(uint8_t num);
-    void setSlaveWriteMode(uint8_t num, bool mode);
-    bool getSlaveWordGroupOffset(uint8_t num);
-    void setSlaveWordGroupOffset(uint8_t num, bool enabled);
-    uint8_t getSlaveDataLength(uint8_t num);
-    void setSlaveDataLength(uint8_t num, uint8_t length);
-
-    // I2C_SLV* registers (Slave 4)
-    uint8_t getSlave4Address();
-    void setSlave4Address(uint8_t address);
-    uint8_t getSlave4Register();
-    void setSlave4Register(uint8_t reg);
-    void setSlave4OutputByte(uint8_t data);
-    bool getSlave4Enabled();
-    void setSlave4Enabled(bool enabled);
-    bool getSlave4InterruptEnabled();
-    void setSlave4InterruptEnabled(bool enabled);
-    bool getSlave4WriteMode();
-    void setSlave4WriteMode(bool mode);
-    uint8_t getSlave4MasterDelay();
-    void setSlave4MasterDelay(uint8_t delay);
-    uint8_t getSlate4InputByte();
-
-    // I2C_MST_STATUS register
-    bool getPassthroughStatus();
-    bool getSlave4IsDone();
-    bool getLostArbitration();
-    bool getSlave4Nack();
-    bool getSlave3Nack();
-    bool getSlave2Nack();
-    bool getSlave1Nack();
-    bool getSlave0Nack();
-
-    // INT_PIN_CFG register
-    bool getInterruptMode();
-    void setInterruptMode(bool mode);
-    bool getInterruptDrive();
-    void setInterruptDrive(bool drive);
-    bool getInterruptLatch();
-    void setInterruptLatch(bool latch);
-    bool getInterruptLatchClear();
-    void setInterruptLatchClear(bool clear);
-    bool getFSyncInterruptLevel();
-    void setFSyncInterruptLevel(bool level);
-    bool getFSyncInterruptEnabled();
-    void setFSyncInterruptEnabled(bool enabled);
-    bool getI2CBypassEnabled();
-    void setI2CBypassEnabled(bool enabled);
-    bool getClockOutputEnabled();
-    void setClockOutputEnabled(bool enabled);
-
-    // INT_ENABLE register
-    uint8_t getIntEnabled();
-    void setIntEnabled(uint8_t enabled);
-    bool getIntFreefallEnabled();
-    void setIntFreefallEnabled(bool enabled);
-    bool getIntMotionEnabled();
-    void setIntMotionEnabled(bool enabled);
-    bool getIntZeroMotionEnabled();
-    void setIntZeroMotionEnabled(bool enabled);
-    bool getIntFIFOBufferOverflowEnabled();
-    void setIntFIFOBufferOverflowEnabled(bool enabled);
-    bool getIntI2CMasterEnabled();
-    void setIntI2CMasterEnabled(bool enabled);
-    bool getIntDataReadyEnabled();
-    void setIntDataReadyEnabled(bool enabled);
-
-    // INT_STATUS register
-    uint8_t getIntStatus();
-    bool getIntFreefallStatus();
-    bool getIntMotionStatus();
-    bool getIntZeroMotionStatus();
-    bool getIntFIFOBufferOverflowStatus();
-    bool getIntI2CMasterStatus();
-    bool getIntDataReadyStatus();
-
-    // ACCEL_*OUT_* registers
-    void getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my,
-                    int16_t* mz);
-    void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
-    void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
-    int16_t getAccelerationX();
-    int16_t getAccelerationY();
-    int16_t getAccelerationZ();
-
-    // TEMP_OUT_* registers
-    int16_t getTemperature();
-
-    // GYRO_*OUT_* registers
-    void getRotation(int16_t* x, int16_t* y, int16_t* z);
-    int16_t getRotationX();
-    int16_t getRotationY();
-    int16_t getRotationZ();
-
-    // EXT_SENS_DATA_* registers
-    uint8_t getExternalSensorByte(int position);
-    uint16_t getExternalSensorWord(int position);
-    uint32_t getExternalSensorDWord(int position);
-
-    // MOT_DETECT_STATUS register
-    bool getXNegMotionDetected();
-    bool getXPosMotionDetected();
-    bool getYNegMotionDetected();
-    bool getYPosMotionDetected();
-    bool getZNegMotionDetected();
-    bool getZPosMotionDetected();
-    bool getZeroMotionDetected();
-
-    // I2C_SLV*_DO register
-    void setSlaveOutputByte(uint8_t num, uint8_t data);
-
-    // I2C_MST_DELAY_CTRL register
-    bool getExternalShadowDelayEnabled();
-    void setExternalShadowDelayEnabled(bool enabled);
-    bool getSlaveDelayEnabled(uint8_t num);
-    void setSlaveDelayEnabled(uint8_t num, bool enabled);
-
-    // SIGNAL_PATH_RESET register
-    void resetGyroscopePath();
-    void resetAccelerometerPath();
-    void resetTemperaturePath();
-
-    // MOT_DETECT_CTRL register
-    uint8_t getAccelerometerPowerOnDelay();
-    void setAccelerometerPowerOnDelay(uint8_t delay);
-    uint8_t getFreefallDetectionCounterDecrement();
-    void setFreefallDetectionCounterDecrement(uint8_t decrement);
-    uint8_t getMotionDetectionCounterDecrement();
-    void setMotionDetectionCounterDecrement(uint8_t decrement);
-
-    // USER_CTRL register
-    bool getFIFOEnabled();
-    void setFIFOEnabled(bool enabled);
-    bool getI2CMasterModeEnabled();
-    void setI2CMasterModeEnabled(bool enabled);
-    void switchSPIEnabled(bool enabled);
-    void resetFIFO();
-    void resetI2CMaster();
-    void resetSensors();
-
-    // PWR_MGMT_1 register
-    void reset();
-    bool getSleepEnabled();
-    void setSleepEnabled(bool enabled);
-    bool getWakeCycleEnabled();
-    void setWakeCycleEnabled(bool enabled);
-    bool getTempSensorEnabled();
-    void setTempSensorEnabled(bool enabled);
-    uint8_t getClockSource();
-    void setClockSource(uint8_t source);
-
-    // PWR_MGMT_2 register
-    uint8_t getWakeFrequency();
-    void setWakeFrequency(uint8_t frequency);
-    bool getStandbyXAccelEnabled();
-    void setStandbyXAccelEnabled(bool enabled);
-    bool getStandbyYAccelEnabled();
-    void setStandbyYAccelEnabled(bool enabled);
-    bool getStandbyZAccelEnabled();
-    void setStandbyZAccelEnabled(bool enabled);
-    bool getStandbyXGyroEnabled();
-    void setStandbyXGyroEnabled(bool enabled);
-    bool getStandbyYGyroEnabled();
-    void setStandbyYGyroEnabled(bool enabled);
-    bool getStandbyZGyroEnabled();
-    void setStandbyZGyroEnabled(bool enabled);
-
-    // FIFO_COUNT_* registers
-    uint16_t getFIFOCount();
-
-    // FIFO_R_W register
-    uint8_t getFIFOByte();
-    void setFIFOByte(uint8_t data);
-    void getFIFOBytes(uint8_t* data, uint8_t length);
-
-    // WHO_AM_I register
-    uint8_t getDeviceID();
-    void setDeviceID(uint8_t id);
-
-    // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
-
-    // XG_OFFS_TC register
-    uint8_t getOTPBankValid();
-    void setOTPBankValid(bool enabled);
-    int8_t getXGyroOffset();
-    void setXGyroOffset(int8_t offset);
-
-    // YG_OFFS_TC register
-    int8_t getYGyroOffset();
-    void setYGyroOffset(int8_t offset);
-
-    // ZG_OFFS_TC register
-    int8_t getZGyroOffset();
-    void setZGyroOffset(int8_t offset);
-
-    // X_FINE_GAIN register
-    int8_t getXFineGain();
-    void setXFineGain(int8_t gain);
-
-    // Y_FINE_GAIN register
-    int8_t getYFineGain();
-    void setYFineGain(int8_t gain);
-
-    // Z_FINE_GAIN register
-    int8_t getZFineGain();
-    void setZFineGain(int8_t gain);
-
-    // XA_OFFS_* registers
-    int16_t getXAccelOffset();
-    void setXAccelOffset(int16_t offset);
-
-    // YA_OFFS_* register
-    int16_t getYAccelOffset();
-    void setYAccelOffset(int16_t offset);
-
-    // ZA_OFFS_* register
-    int16_t getZAccelOffset();
-    void setZAccelOffset(int16_t offset);
-
-    // XG_OFFS_USR* registers
-    int16_t getXGyroOffsetUser();
-    void setXGyroOffsetUser(int16_t offset);
-
-    // YG_OFFS_USR* register
-    int16_t getYGyroOffsetUser();
-    void setYGyroOffsetUser(int16_t offset);
-
-    // ZG_OFFS_USR* register
-    int16_t getZGyroOffsetUser();
-    void setZGyroOffsetUser(int16_t offset);
-
-    // INT_ENABLE register (DMP functions)
-    bool getIntPLLReadyEnabled();
-    void setIntPLLReadyEnabled(bool enabled);
-    bool getIntDMPEnabled();
-    void setIntDMPEnabled(bool enabled);
-
-    // DMP_INT_STATUS
-    bool getDMPInt5Status();
-    bool getDMPInt4Status();
-    bool getDMPInt3Status();
-    bool getDMPInt2Status();
-    bool getDMPInt1Status();
-    bool getDMPInt0Status();
-
-    // INT_STATUS register (DMP functions)
-    bool getIntPLLReadyStatus();
-    bool getIntDMPStatus();
-
-    // USER_CTRL register (DMP functions)
-    bool getDMPEnabled();
-    void setDMPEnabled(bool enabled);
-    void resetDMP();
-
-    // BANK_SEL register
-    void setMemoryBank(uint8_t bank, bool prefetchEnabled = false, bool userBank = false);
-
-    // MEM_START_ADDR register
-    void setMemoryStartAddress(uint8_t address);
-
-    // MEM_R_W register
-    uint8_t readMemoryByte();
-    void writeMemoryByte(uint8_t data);
-    void readMemoryBlock(uint8_t* data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0);
-    bool writeMemoryBlock(const uint8_t* data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0, bool verify = true,
-                          bool useProgMem = false);
-    bool writeProgMemoryBlock(const uint8_t* data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0,
-                              bool verify = true);
-
-    bool writeDMPConfigurationSet(const uint8_t* data, uint16_t dataSize, bool useProgMem = false);
-    bool writeProgDMPConfigurationSet(const uint8_t* data, uint16_t dataSize);
-
-    // DMP_CFG_1 register
-    uint8_t getDMPConfig1();
-    void setDMPConfig1(uint8_t config);
-
-    // DMP_CFG_2 register
-    uint8_t getDMPConfig2();
-    void setDMPConfig2(uint8_t config);
-
-    // special methods for MotionApps 2.0 implementation
-    #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
-    uint8_t* dmpPacketBuffer;
-    uint16_t dmpPacketSize;
-
-    uint8_t dmpInitialize();
-    bool dmpPacketAvailable();
-
-    uint8_t dmpSetFIFORate(uint8_t fifoRate);
-    uint8_t dmpGetFIFORate();
-    uint8_t dmpGetSampleStepSizeMS();
-    uint8_t dmpGetSampleFrequency();
-    int32_t dmpDecodeTemperature(int8_t tempReg);
-
-    // Register callbacks after a packet of FIFO data is processed
-    //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
-    //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
-    uint8_t dmpRunFIFORateProcesses();
-
-    // Setup FIFO for various output
-    uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
-    uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
-    uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
-
-    // Get Fixed Point data from FIFO
-    uint8_t dmpGetAccel(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetAccel(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetAccel(VectorInt16* v, const uint8_t* packet = 0);
-    uint8_t dmpGetQuaternion(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetQuaternion(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetQuaternion(Quaternion* q, const uint8_t* packet = 0);
-    uint8_t dmpGet6AxisQuaternion(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGet6AxisQuaternion(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGet6AxisQuaternion(Quaternion* q, const uint8_t* packet = 0);
-    uint8_t dmpGetRelativeQuaternion(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetRelativeQuaternion(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetRelativeQuaternion(Quaternion* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGyro(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGyro(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGyro(VectorInt16* v, const uint8_t* packet = 0);
-    uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
-    uint8_t dmpGetLinearAccel(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetLinearAccel(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetLinearAccel(VectorInt16* v, const uint8_t* packet = 0);
-    uint8_t dmpGetLinearAccel(VectorInt16* v, VectorInt16* vRaw, VectorFloat* gravity);
-    uint8_t dmpGetLinearAccelInWorld(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetLinearAccelInWorld(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, const uint8_t* packet = 0);
-    uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, VectorInt16* vReal, Quaternion* q);
-    uint8_t dmpGetGyroAndAccelSensor(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGyroAndAccelSensor(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGyroAndAccelSensor(VectorInt16* g, VectorInt16* a, const uint8_t* packet = 0);
-    uint8_t dmpGetGyroSensor(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGyroSensor(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGyroSensor(VectorInt16* v, const uint8_t* packet = 0);
-    uint8_t dmpGetControlData(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetTemperature(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGravity(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGravity(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGravity(VectorInt16* v, const uint8_t* packet = 0);
-    uint8_t dmpGetGravity(VectorFloat* v, Quaternion* q);
-    uint8_t dmpGetUnquantizedAccel(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetUnquantizedAccel(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetUnquantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
-    uint8_t dmpGetQuantizedAccel(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetQuantizedAccel(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetQuantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
-    uint8_t dmpGetExternalSensorData(int32_t* data, uint16_t size, const uint8_t* packet = 0);
-    uint8_t dmpGetEIS(int32_t* data, const uint8_t* packet = 0);
-
-    uint8_t dmpGetEuler(float* data, Quaternion* q);
-    uint8_t dmpGetYawPitchRoll(float* data, Quaternion* q, VectorFloat* gravity);
-
-    // Get Floating Point data from FIFO
-    uint8_t dmpGetAccelFloat(float* data, const uint8_t* packet = 0);
-    uint8_t dmpGetQuaternionFloat(float* data, const uint8_t* packet = 0);
-
-    uint8_t dmpProcessFIFOPacket(const unsigned char* dmpData);
-    uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t* processed = NULL);
-
-    uint8_t dmpSetFIFOProcessedCallback(void (*func)(void));
-
-    uint8_t dmpInitFIFOParam();
-    uint8_t dmpCloseFIFO();
-    uint8_t dmpSetGyroDataSource(uint8_t source);
-    uint8_t dmpDecodeQuantizedAccel();
-    uint32_t dmpGetGyroSumOfSquare();
-    uint32_t dmpGetAccelSumOfSquare();
-    void dmpOverrideQuaternion(long* q);
-    uint16_t dmpGetFIFOPacketSize();
-    #endif
-
-    // special methods for MotionApps 4.1 implementation
-    #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41
-    uint8_t* dmpPacketBuffer;
-    uint16_t dmpPacketSize;
-
-    uint8_t dmpInitialize();
-    bool dmpPacketAvailable();
-
-    uint8_t dmpSetFIFORate(uint8_t fifoRate);
-    uint8_t dmpGetFIFORate();
-    uint8_t dmpGetSampleStepSizeMS();
-    uint8_t dmpGetSampleFrequency();
-    int32_t dmpDecodeTemperature(int8_t tempReg);
-
-    // Register callbacks after a packet of FIFO data is processed
-    //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
-    //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
-    uint8_t dmpRunFIFORateProcesses();
-
-    // Setup FIFO for various output
-    uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
-    uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
-    uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-    uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
-
-    // Get Fixed Point data from FIFO
-    uint8_t dmpGetAccel(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetAccel(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetAccel(VectorInt16* v, const uint8_t* packet = 0);
-    uint8_t dmpGetQuaternion(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetQuaternion(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetQuaternion(Quaternion* q, const uint8_t* packet = 0);
-    uint8_t dmpGet6AxisQuaternion(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGet6AxisQuaternion(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGet6AxisQuaternion(Quaternion* q, const uint8_t* packet = 0);
-    uint8_t dmpGetRelativeQuaternion(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetRelativeQuaternion(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetRelativeQuaternion(Quaternion* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGyro(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGyro(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGyro(VectorInt16* v, const uint8_t* packet = 0);
-    uint8_t dmpGetMag(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
-    uint8_t dmpGetLinearAccel(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetLinearAccel(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetLinearAccel(VectorInt16* v, const uint8_t* packet = 0);
-    uint8_t dmpGetLinearAccel(VectorInt16* v, VectorInt16* vRaw, VectorFloat* gravity);
-    uint8_t dmpGetLinearAccelInWorld(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetLinearAccelInWorld(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, const uint8_t* packet = 0);
-    uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, VectorInt16* vReal, Quaternion* q);
-    uint8_t dmpGetGyroAndAccelSensor(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGyroAndAccelSensor(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGyroAndAccelSensor(VectorInt16* g, VectorInt16* a, const uint8_t* packet = 0);
-    uint8_t dmpGetGyroSensor(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGyroSensor(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGyroSensor(VectorInt16* v, const uint8_t* packet = 0);
-    uint8_t dmpGetControlData(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetTemperature(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGravity(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGravity(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetGravity(VectorInt16* v, const uint8_t* packet = 0);
-    uint8_t dmpGetGravity(VectorFloat* v, Quaternion* q);
-    uint8_t dmpGetUnquantizedAccel(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetUnquantizedAccel(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetUnquantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
-    uint8_t dmpGetQuantizedAccel(int32_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetQuantizedAccel(int16_t* data, const uint8_t* packet = 0);
-    uint8_t dmpGetQuantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
-    uint8_t dmpGetExternalSensorData(int32_t* data, uint16_t size, const uint8_t* packet = 0);
-    uint8_t dmpGetEIS(int32_t* data, const uint8_t* packet = 0);
-
-    uint8_t dmpGetEuler(float* data, Quaternion* q);
-    uint8_t dmpGetYawPitchRoll(float* data, Quaternion* q, VectorFloat* gravity);
-
-    // Get Floating Point data from FIFO
-    uint8_t dmpGetAccelFloat(float* data, const uint8_t* packet = 0);
-    uint8_t dmpGetQuaternionFloat(float* data, const uint8_t* packet = 0);
-
-    uint8_t dmpProcessFIFOPacket(const unsigned char* dmpData);
-    uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t* processed = NULL);
-
-    uint8_t dmpSetFIFOProcessedCallback(void (*func)(void));
-
-    uint8_t dmpInitFIFOParam();
-    uint8_t dmpCloseFIFO();
-    uint8_t dmpSetGyroDataSource(uint8_t source);
-    uint8_t dmpDecodeQuantizedAccel();
-    uint32_t dmpGetGyroSumOfSquare();
-    uint32_t dmpGetAccelSumOfSquare();
-    void dmpOverrideQuaternion(long* q);
-    uint16_t dmpGetFIFOPacketSize();
-    #endif
-
-  private:
-    uint8_t devAddr;
-    uint8_t buffer[14];
-};
-
-#endif /* _MPU6050_H_ */
diff --git a/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe.blend b/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe.blend
deleted file mode 100644
index 7c5f465..0000000
Binary files a/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe.blend and /dev/null differ
diff --git a/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe.py b/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe.py
deleted file mode 100644
index b833ba4..0000000
--- a/labyrinthe/4-arduino_pyserial/etape1/4-labyrinthe.py
+++ /dev/null
@@ -1,151 +0,0 @@
-import bge # Bibliothèque Blender Game Engine (BGE)
-import serial # Liaison série
-
-###############################################################################
-# 4-labyrinthe.py
-# @title: Module (unique) de la scène 3D du labyrinthe à bille pilotable avec une centrale inertielle (capteur IMU)
-# @project: Blender-EduTech - Tutoriel 4 : Labyrinthe à bille - Interfacer avec une carte Arduino par la liaision série
-# @lang: fr
-# @authors: Philippe Roy 
-# @copyright: Copyright (C) 2023 Philippe Roy
-# @license: GNU GPL
-#
-# Commandes déclenchées par UPBGE pour le scène du labyrinthe
-#
-###############################################################################
-
-# Récupérer la scène 3D
-scene = bge.logic.getCurrentScene()
-# print("Objets de la scene : ", scene.objects) # Lister les objets de la scène
-
-# Constantes
-JUST_ACTIVATED = bge.logic.KX_INPUT_JUST_ACTIVATED
-JUST_RELEASED = bge.logic.KX_INPUT_JUST_RELEASED
-ACTIVATE = bge.logic.KX_INPUT_ACTIVE
-
-# Communication avec la carte Arduino
-# serial_baud=115200
-# # serial_comm = serial.Serial('COM4',serial_baud, timeout=0.016) # Windows
-# serial_comm = serial.Serial('/dev/ttyACM0',serial_baud, timeout=0.016) # GNU/Linux
-# print (serial_comm)
-
-# Détection de la carte avec la liaison série
-serial_comm = labyrinthe_carte.init_serial()
-if serial_comm is None:
-    bge.logic.endGame()
-print("Communication Carte Arduino établie")
-
-###############################################################################
-# Gestion de la centrale inertielle (capteur IMU (inertial measurement unit))
-###############################################################################
-
-# Lecture du capteur IMU
-def capteur(cont):
-    obj = cont.owner # obj est l'objet associé au contrôleur donc 'Plateau'
-    obj_bille = scene.objects['Bille']
-    echelle = 0.2 # Facteur d'échelle entre la capteur et la 3D
-    ecart=0.001 # Écart maxi sur la rotation
-
-    # Touche ESC -> Quitter
-    keyboard = bge.logic.keyboard
-    if keyboard.inputs[bge.events.ESCKEY].status[0] == ACTIVATE:
-        serial_comm.close()
-        bge.logic.endGame()
-
-    # Lecture de la liaison série : programme Arduino : 4-labyrinthe-imu.ino
-    serial_msg_in = str(serial_comm.readline())
-
-    # Roulis/Roll(x) et Tangage/Pitch(y)
-    if serial_msg_in.find(",")>0:
-        txt = serial_msg_in.split(',',2)
-        x_txt = txt[0][2:]
-        y_txt = txt[1][:-5]
-        if x_txt != " NAN" and y_txt != " NAN": # NAN : Not A Number
-            x=-(float(x_txt)/57.3) * echelle # 1/ 360 / (2 * pi) 
-            y=-(float(y_txt)/57.3)  * echelle # 1/ 360 / (2 * pi)
-            while abs(x-obj.worldOrientation.to_euler().x) > ecart :
-                obj.applyRotation((x-obj.worldOrientation.to_euler().x, 0, -obj.worldOrientation.to_euler().z), False)
-            while abs(y-obj.worldOrientation.to_euler().y) > ecart :
-                obj.applyRotation((0, y-obj.worldOrientation.to_euler().y, -obj.worldOrientation.to_euler().z), False)
-
-###############################################################################
-# Gameplay
-###############################################################################
-
-# Initialisation de la scène
-def  init(cont):
-    obj = cont.owner # obj est l'objet associé au contrôleur donc 'Bille'
-
-    # Mémorisation de la position de départ de la bille
-    obj['init_x']=obj.worldPosition.x
-    obj['init_y']=obj.worldPosition.y
-    obj['init_z']=obj.worldPosition.z
-
-    # Cacher le panneau de la victoire et suspendre la physique du panneau cliquable
-    scene.objects['Panneau victoire'].setVisible(False,True)
-    scene.objects['Panneau victoire - plan'].suspendPhysics (True)
-    scene.objects['Bouton fermer'].color = (0, 0, 0, 1) # Noir
-
-# Cycle (boucle de contrôle de la bille)
-def  cycle(cont):
-    obj = cont.owner # obj est l'objet associé au contrôleur donc 'Bille'
-    obj['z']=obj.worldPosition.z # la propriété z est mis à jour avec la position globale en z de la bille
-
-    # Si l'altitude de bille < -10 et pas de victoire -> chute
-    if obj['z'] < -10 and obj['victoire'] == False:
-        print ("Chuuuu.....te")
-        depart()
-
-# Départ de la bille
-def  depart():
-    obj_bille = scene.objects['Bille']
-    obj_plateau = scene.objects['Plateau']
-
-    # Replacement du plateau (tous les angles à 0 en plusieurs fois)
-    while obj_plateau.worldOrientation.to_euler().x != 0 and obj_plateau.worldOrientation.to_euler().y !=0 and obj_plateau.worldOrientation.to_euler().z !=0 :
-        obj_plateau.applyRotation((-obj_plateau.worldOrientation.to_euler().x, -obj_plateau.worldOrientation.to_euler().y, -obj_plateau.worldOrientation.to_euler().z), False)
-
-    # Mettre la bille à la position de départ avec une vitesse nulle
-    obj_bille = scene.objects['Bille']
-    obj_bille.worldLinearVelocity=(0, 0, 0)
-    obj_bille.worldAngularVelocity=(0, 0, 0)
-    obj_bille.worldPosition.x = obj_bille['init_x']
-    obj_bille.worldPosition.y = obj_bille['init_y']
-    obj_bille.worldPosition.z = obj_bille['init_z']+0.5 # On repose la bille
-    obj_bille['victoire']=False
-    obj_bille['chute'] = False
-
-# Victoire (colision de la bille avec l'arrivée)
-def victoire(cont):
-    scene.objects['Bille']['victoire']=True
-    scene.objects['Panneau victoire'].setVisible(True,True) # Afficher le panneau de la victoire
-    scene.objects['Panneau victoire - plan'].restorePhysics() # Restaurer la physique du panneau cliquable
-    start = 1
-    end = 100
-    layer = 0
-    priority = 1
-    blendin = 1.0
-    mode = bge.logic.KX_ACTION_MODE_PLAY
-    layerWeight = 0.0
-    ipoFlags = 0
-    speed = 1
-    scene.objects['Panneau victoire'].playAction('Panneau victoireAction', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
-
-# Highlight du bouton Fermer
-def victoire_fermer_hl(cont):
-    obj = cont.owner
-
-    # Activation
-    if cont.sensors['MO'].status == JUST_ACTIVATED:
-            obj.color = (1, 1, 1, 1) # Blanc
-
-    # Désactivation
-    if cont.sensors['MO'].status == JUST_RELEASED:
-        obj.color = (0, 0, 0, 1) # Noir
-
-# Fermer le panneau de la victoire (clic)
-def victoire_fermer(cont):
-    if cont.sensors['Click'].status == JUST_ACTIVATED and cont.sensors['MO'].positive:
-        scene.objects['Panneau victoire'].setVisible(False,True) # Cacher le panneau de la victoire
-        scene.objects['Panneau victoire - plan'].suspendPhysics (True) # Suspendre la physique du panneau cliquable
-        depart()