diff --git a/main/EigenArduino b/main/EigenArduino deleted file mode 160000 index d8997d8..0000000 --- a/main/EigenArduino +++ /dev/null @@ -1 +0,0 @@ -Subproject commit d8997d8217aa44c565de62a667ff9a21798848de diff --git a/main/MPU6050.cpp b/main/MPU6050.cpp deleted file mode 100644 index f8c127d..0000000 --- a/main/MPU6050.cpp +++ /dev/null @@ -1,3371 +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: -// 2019-07-08 - Added Auto Calibration routine -// ... - 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" - -/** Specific address constructor. - * @param address I2C address, uses default I2C address if none is specified - * @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); -} - -// SELF TEST FACTORY TRIM VALUES - -/** Get self-test factory trim value for accelerometer X axis. - * @return factory trim value - * @see MPU6050_RA_SELF_TEST_X - */ -uint8_t MPU6050::getAccelXSelfTestFactoryTrim() { - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, &buffer[0]); - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1]); - return (buffer[0]>>3) | ((buffer[1]>>4) & 0x03); -} - -/** Get self-test factory trim value for accelerometer Y axis. - * @return factory trim value - * @see MPU6050_RA_SELF_TEST_Y - */ -uint8_t MPU6050::getAccelYSelfTestFactoryTrim() { - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, &buffer[0]); - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1]); - return (buffer[0]>>3) | ((buffer[1]>>2) & 0x03); -} - -/** Get self-test factory trim value for accelerometer Z axis. - * @return factory trim value - * @see MPU6050_RA_SELF_TEST_Z - */ -uint8_t MPU6050::getAccelZSelfTestFactoryTrim() { - I2Cdev::readBytes(devAddr, MPU6050_RA_SELF_TEST_Z, 2, buffer); - return (buffer[0]>>3) | (buffer[1] & 0x03); -} - -/** Get self-test factory trim value for gyro X axis. - * @return factory trim value - * @see MPU6050_RA_SELF_TEST_X - */ -uint8_t MPU6050::getGyroXSelfTestFactoryTrim() { - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, buffer); - return (buffer[0] & 0x1F); -} - -/** Get self-test factory trim value for gyro Y axis. - * @return factory trim value - * @see MPU6050_RA_SELF_TEST_Y - */ -uint8_t MPU6050::getGyroYSelfTestFactoryTrim() { - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, buffer); - return (buffer[0] & 0x1F); -} - -/** Get self-test factory trim value for gyro Z axis. - * @return factory trim value - * @see MPU6050_RA_SELF_TEST_Z - */ -uint8_t MPU6050::getGyroZSelfTestFactoryTrim() { - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Z, buffer); - return (buffer[0] & 0x1F); -} - -// 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 motion detection 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) { - getMotion6(ax, ay, az, gx, gy, gz); - // TODO: magnetometer integration -} -/** Get raw 6-axis motion sensor readings (accel/gyro). - * Retrieves all currently available motion sensor values. - * @param ax 16-bit signed integer container for accelerometer X-axis value - * @param ay 16-bit signed integer container for accelerometer Y-axis value - * @param az 16-bit signed integer container for accelerometer Z-axis value - * @param gx 16-bit signed integer container for gyroscope X-axis value - * @param gy 16-bit signed integer container for gyroscope Y-axis value - * @param gz 16-bit signed integer container for gyroscope Z-axis value - * @see getAcceleration() - * @see getRotation() - * @see 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 full motion detection status register content (all bits). - * @return Motion detection status byte - * @see MPU6050_RA_MOT_DETECT_STATUS - */ -uint8_t MPU6050::getMotionStatus() { - I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DETECT_STATUS, buffer); - return buffer[0]; -} -/** 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) { - if(length > 0){ - I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data); - } else { - *data = 0; - } -} - -/** Get latest byte from FIFO buffer no matter how much time has passed. - * === GetCurrentFIFOPacket === - * ================================================================ - * Returns 1) when nothing special was done - * 2) when recovering from overflow - * 0) when no valid data is available - * ================================================================ */ - int8_t MPU6050::GetCurrentFIFOPacket(uint8_t *data, uint8_t length) { // overflow proof - int16_t fifoC; - // This section of code is for when we allowed more than 1 packet to be acquired - uint32_t BreakTimer = micros(); - do { - if ((fifoC = getFIFOCount()) > length) { - - if (fifoC > 200) { // if you waited to get the FIFO buffer to > 200 bytes it will take longer to get the last packet in the FIFO Buffer than it will take to reset the buffer and wait for the next to arrive - resetFIFO(); // Fixes any overflow corruption - fifoC = 0; - while (!(fifoC = getFIFOCount()) && ((micros() - BreakTimer) <= (11000))); // Get Next New Packet - } else { //We have more than 1 packet but less than 200 bytes of data in the FIFO Buffer - uint8_t Trash[BUFFER_LENGTH]; - while ((fifoC = getFIFOCount()) > length) { // Test each time just in case the MPU is writing to the FIFO Buffer - fifoC = fifoC - length; // Save the last packet - uint16_t RemoveBytes; - while (fifoC) { // fifo count will reach zero so this is safe - RemoveBytes = min((int)fifoC, BUFFER_LENGTH); // Buffer Length is different than the packet length this will efficiently clear the buffer - getFIFOBytes(Trash, (uint8_t)RemoveBytes); - fifoC -= RemoveBytes; - } - } - } - } - if (!fifoC) return 0; // Called too early no data or we timed out after FIFO Reset - // We have 1 packet - if ((micros() - BreakTimer) > (11000)) return 0; - } while (fifoC != length); - getFIFOBytes(data, length); //Get 1 packet - return 1; -} - - -/** 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::getXGyroOffsetTC() { - I2Cdev::readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer); - return buffer[0]; -} -void MPU6050::setXGyroOffsetTC(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::getYGyroOffsetTC() { - I2Cdev::readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer); - return buffer[0]; -} -void MPU6050::setYGyroOffsetTC(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::getZGyroOffsetTC() { - I2Cdev::readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer); - return buffer[0]; -} -void MPU6050::setZGyroOffsetTC(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() { - uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_XA_OFFS_H:0x77); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::readBytes(devAddr, SaveAddress, 2, buffer); - return (((int16_t)buffer[0]) << 8) | buffer[1]; -} -void MPU6050::setXAccelOffset(int16_t offset) { - uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_XA_OFFS_H:0x77); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::writeWord(devAddr, SaveAddress, offset); -} - -// YA_OFFS_* register - -int16_t MPU6050::getYAccelOffset() { - uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_YA_OFFS_H:0x7A); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::readBytes(devAddr, SaveAddress, 2, buffer); - return (((int16_t)buffer[0]) << 8) | buffer[1]; -} -void MPU6050::setYAccelOffset(int16_t offset) { - uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_YA_OFFS_H:0x7A); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::writeWord(devAddr, SaveAddress, offset); -} - -// ZA_OFFS_* register - -int16_t MPU6050::getZAccelOffset() { - uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_ZA_OFFS_H:0x7D); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::readBytes(devAddr, SaveAddress, 2, buffer); - return (((int16_t)buffer[0]) << 8) | buffer[1]; -} -void MPU6050::setZAccelOffset(int16_t offset) { - uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_ZA_OFFS_H:0x7D); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::writeWord(devAddr, SaveAddress, offset); -} - -// XG_OFFS_USR* registers - -int16_t MPU6050::getXGyroOffset() { - I2Cdev::readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer); - return (((int16_t)buffer[0]) << 8) | buffer[1]; -} -void MPU6050::setXGyroOffset(int16_t offset) { - I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset); -} - -// YG_OFFS_USR* register - -int16_t MPU6050::getYGyroOffset() { - I2Cdev::readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer); - return (((int16_t)buffer[0]) << 8) | buffer[1]; -} -void MPU6050::setYGyroOffset(int16_t offset) { - I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset); -} - -// ZG_OFFS_USR* register - -int16_t MPU6050::getZGyroOffset() { - I2Cdev::readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer); - return (((int16_t)buffer[0]) << 8) | buffer[1]; -} -void MPU6050::setZGyroOffset(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=0; - uint8_t *progBuffer=0; - 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 = 0; - uint8_t 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); -} - - -//*************************************************************************************** -//********************** Calibration Routines ********************** -//*************************************************************************************** -/** - @brief Fully calibrate Gyro from ZERO in about 6-7 Loops 600-700 readings -*/ -void MPU6050::CalibrateGyro(uint8_t Loops ) { - double kP = 0.3; - double kI = 90; - float x; - x = (100 - map(Loops, 1, 5, 20, 0)) * .01; - kP *= x; - kI *= x; - - PID( 0x43, kP, kI, Loops); -} - -/** - @brief Fully calibrate Accel from ZERO in about 6-7 Loops 600-700 readings -*/ -void MPU6050::CalibrateAccel(uint8_t Loops ) { - - float kP = 0.3; - float kI = 20; - float x; - x = (100 - map(Loops, 1, 5, 20, 0)) * .01; - kP *= x; - kI *= x; - PID( 0x3B, kP, kI, Loops); -} - -void MPU6050::PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops){ - uint8_t SaveAddress = (ReadAddress == 0x3B)?((getDeviceID() < 0x38 )? 0x06:0x77):0x13; - - int16_t Data; - float Reading; - int16_t BitZero[3]; - uint8_t shift =(SaveAddress == 0x77)?3:2; - float Error, PTerm, ITerm[3]; - int16_t eSample; - uint32_t eSum ; - Serial.write('>'); - for (int i = 0; i < 3; i++) { - I2Cdev::readWords(devAddr, SaveAddress + (i * shift), 1, (uint16_t *)&Data); // reads 1 or more 16 bit integers (Word) - Reading = Data; - if(SaveAddress != 0x13){ - BitZero[i] = Data & 1; // Capture Bit Zero to properly handle Accelerometer calibration - ITerm[i] = ((float)Reading) * 8; - } else { - ITerm[i] = Reading * 4; - } - } - for (int L = 0; L < Loops; L++) { - eSample = 0; - for (int c = 0; c < 100; c++) {// 100 PI Calculations - eSum = 0; - for (int i = 0; i < 3; i++) { - I2Cdev::readWords(devAddr, ReadAddress + (i * 2), 1, (uint16_t *)&Data); // reads 1 or more 16 bit integers (Word) - Reading = Data; - if ((ReadAddress == 0x3B)&&(i == 2)) Reading -= 16384; //remove Gravity - Error = -Reading; - eSum += abs(Reading); - PTerm = kP * Error; - ITerm[i] += (Error * 0.001) * kI; // Integral term 1000 Calculations a second = 0.001 - if(SaveAddress != 0x13){ - Data = round((PTerm + ITerm[i] ) / 8); //Compute PID Output - Data = ((Data)&0xFFFE) |BitZero[i]; // Insert Bit0 Saved at beginning - } else Data = round((PTerm + ITerm[i] ) / 4); //Compute PID Output - I2Cdev::writeWords(devAddr, SaveAddress + (i * shift), 1, (uint16_t *)&Data); - } - if((c == 99) && eSum > 1000){ // Error is still to great to continue - c = 0; - Serial.write('*'); - } - if((eSum * ((ReadAddress == 0x3B)?.05: 1)) < 5) eSample++; // Successfully found offsets prepare to advance - if((eSum < 100) && (c > 10) && (eSample >= 10)) break; // Advance to next Loop - delay(1); - } - Serial.write('.'); - kP *= .75; - kI *= .75; - for (int i = 0; i < 3; i++){ - if(SaveAddress != 0x13) { - Data = round((ITerm[i] ) / 8); //Compute PID Output - Data = ((Data)&0xFFFE) |BitZero[i]; // Insert Bit0 Saved at beginning - } else Data = round((ITerm[i]) / 4); - I2Cdev::writeWords(devAddr, SaveAddress + (i * shift), 1, (uint16_t *)&Data); - } - } - resetFIFO(); - resetDMP(); -} - -#define printfloatx(Name,Variable,Spaces,Precision,EndTxt) { Serial.print(F(Name)); {char S[(Spaces + Precision + 3)];Serial.print(F(" ")); Serial.print(dtostrf((float)Variable,Spaces,Precision ,S));}Serial.print(F(EndTxt)); }//Name,Variable,Spaces,Precision,EndTxt -void MPU6050::PrintActiveOffsets() { - uint8_t AOffsetRegister = (getDeviceID() < 0x38 )? MPU6050_RA_XA_OFFS_H:0x77; - int16_t Data[3]; - //Serial.print(F("Offset Register 0x")); - //Serial.print(AOffsetRegister>>4,HEX);Serial.print(AOffsetRegister&0x0F,HEX); - Serial.print(F("\n// X Accel Y Accel Z Accel X Gyro Y Gyro Z Gyro\n//OFFSETS ")); - if(AOffsetRegister == 0x06) I2Cdev::readWords(devAddr, AOffsetRegister, 3, (uint16_t *)Data); - else { - I2Cdev::readWords(devAddr, AOffsetRegister, 1, (uint16_t *)Data); - I2Cdev::readWords(devAddr, AOffsetRegister+3, 1, (uint16_t *)Data+1); - I2Cdev::readWords(devAddr, AOffsetRegister+6, 1, (uint16_t *)Data+2); - } - // A_OFFSET_H_READ_A_OFFS(Data); - printfloatx("", Data[0], 5, 0, ", "); - printfloatx("", Data[1], 5, 0, ", "); - printfloatx("", Data[2], 5, 0, ", "); - I2Cdev::readWords(devAddr, 0x13, 3, (uint16_t *)Data); - // XG_OFFSET_H_READ_OFFS_USR(Data); - printfloatx("", Data[0], 5, 0, ", "); - printfloatx("", Data[1], 5, 0, ", "); - printfloatx("", Data[2], 5, 0, "\n"); -} diff --git a/main/MPU6050.h b/main/MPU6050.h deleted file mode 100644 index 4be352d..0000000 --- a/main/MPU6050.h +++ /dev/null @@ -1,1041 +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" - -// supporting link: http://forum.arduino.cc/index.php?&topic=143444.msg1079517#msg1079517 -// also: http://forum.arduino.cc/index.php?&topic=141571.msg1062899#msg1062899s - -#ifdef __AVR__ -#include -#else -//#define PROGMEM /* empty */ -//#define pgm_read_byte(x) (*(x)) -//#define pgm_read_word(x) (*(x)) -//#define pgm_read_float(x) (*(x)) -//#define PSTR(STR) STR -#endif - - -#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_SELF_TEST_X 0x0D //[7:5] XA_TEST[4-2], [4:0] XG_TEST[4-0] -#define MPU6050_RA_SELF_TEST_Y 0x0E //[7:5] YA_TEST[4-2], [4:0] YG_TEST[4-0] -#define MPU6050_RA_SELF_TEST_Z 0x0F //[7:5] ZA_TEST[4-2], [4:0] ZG_TEST[4-0] -#define MPU6050_RA_SELF_TEST_A 0x10 //[5:4] XA_TEST[1-0], [3:2] YA_TEST[1-0], [1:0] ZA_TEST[1-0] -#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_SELF_TEST_XA_1_BIT 0x07 -#define MPU6050_SELF_TEST_XA_1_LENGTH 0x03 -#define MPU6050_SELF_TEST_XA_2_BIT 0x05 -#define MPU6050_SELF_TEST_XA_2_LENGTH 0x02 -#define MPU6050_SELF_TEST_YA_1_BIT 0x07 -#define MPU6050_SELF_TEST_YA_1_LENGTH 0x03 -#define MPU6050_SELF_TEST_YA_2_BIT 0x03 -#define MPU6050_SELF_TEST_YA_2_LENGTH 0x02 -#define MPU6050_SELF_TEST_ZA_1_BIT 0x07 -#define MPU6050_SELF_TEST_ZA_1_LENGTH 0x03 -#define MPU6050_SELF_TEST_ZA_2_BIT 0x01 -#define MPU6050_SELF_TEST_ZA_2_LENGTH 0x02 - -#define MPU6050_SELF_TEST_XG_1_BIT 0x04 -#define MPU6050_SELF_TEST_XG_1_LENGTH 0x05 -#define MPU6050_SELF_TEST_YG_1_BIT 0x04 -#define MPU6050_SELF_TEST_YG_1_LENGTH 0x05 -#define MPU6050_SELF_TEST_ZG_1_BIT 0x04 -#define MPU6050_SELF_TEST_ZG_1_LENGTH 0x05 - -#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(uint8_t address=MPU6050_DEFAULT_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); - - // SELF_TEST registers - uint8_t getAccelXSelfTestFactoryTrim(); - uint8_t getAccelYSelfTestFactoryTrim(); - uint8_t getAccelZSelfTestFactoryTrim(); - - uint8_t getGyroXSelfTestFactoryTrim(); - uint8_t getGyroYSelfTestFactoryTrim(); - uint8_t getGyroZSelfTestFactoryTrim(); - - // 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 - uint8_t getMotionStatus(); - 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(); - int8_t GetCurrentFIFOPacket(uint8_t *data, uint8_t length); - 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 getXGyroOffsetTC(); - void setXGyroOffsetTC(int8_t offset); - - // YG_OFFS_TC register - int8_t getYGyroOffsetTC(); - void setYGyroOffsetTC(int8_t offset); - - // ZG_OFFS_TC register - int8_t getZGyroOffsetTC(); - void setZGyroOffsetTC(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 getXGyroOffset(); - void setXGyroOffset(int16_t offset); - - // YG_OFFS_USR* register - int16_t getYGyroOffset(); - void setYGyroOffset(int16_t offset); - - // ZG_OFFS_USR* register - int16_t getZGyroOffset(); - void setZGyroOffset(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); - - // Calibration Routines - void CalibrateGyro(uint8_t Loops = 15); // Fine tune after setting offsets with less Loops. - void CalibrateAccel(uint8_t Loops = 15);// Fine tune after setting offsets with less Loops. - void PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops); // Does the math - void PrintActiveOffsets(); // See the results of the Calibration - - - - // special methods for MotionApps 2.0 implementation - #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20 - - 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(); - uint8_t dmpGetCurrentFIFOPacket(uint8_t *data); // overflow proof - #endif - - // special methods for MotionApps 4.1 implementation - #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41 - - 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]; - #if defined(MPU6050_INCLUDE_DMP_MOTIONAPPS20) or defined(MPU6050_INCLUDE_DMP_MOTIONAPPS41) - uint8_t *dmpPacketBuffer; - uint16_t dmpPacketSize; - #endif -}; - -#endif /* _MPU6050_H_ */ diff --git a/main/main.ino b/main/main.ino index e402bcc..af9dbf3 100644 --- a/main/main.ino +++ b/main/main.ino @@ -1,18 +1,16 @@ #include // C STD Int library, might not be needed -// #include // another of version of Eigen313.h -#include // linear algebra library #include "I2Cdev.h" -#include // Eigen313 dependency -#include "mission_constants.hh" #include "moding.hh" -#include "MPU6050.h" // MPU 6050 IMU Library #include // TODO: what's this? #include // flash chip library #include "Wire.h" // Arduino library #include "workspace.hh" // variable storage +#include +#include "matrix.hh" +#include "mission_constants.hh" +#include - -using namespace Eigen; +using namespace std; // declare flash chip #define CHIPSIZE MB64 @@ -21,120 +19,37 @@ SPIFlash flash(1); // (--) instance of workspace class storing all the variables used in the loop Workspace ws; -/* print_measurements - * - * Print out the latest IMU measurements, formatted nicely. - */ -void print_measurements(float a[3], float w[3]) -{ - Serial.print('a (m/s^2): '); Serial.print(a[0]); - Serial.print('\t'); Serial.print(a[1]); - Serial.print('\t'); Serial.println(a[2]); - - Serial.print('w (rad/s): '); Serial.print(w[0]); - Serial.print('\t'); Serial.print(w[1]); - Serial.print('\t'); Serial.println(w[2]); -} - -/* calibrate_imu_linear_acceleration - * - * Checks a sample of IMU measurements over a few seconds while the rocket - * is ASSUMED to be still. Averages the sum of those measurements to get a - * linear acceleration bias along each axis. This bias is stored and assumed - * to be constant throughout the flight. Bias is used in get_latest_measurements - * when converting sensor readings to engineering values. +/* tvc_abs + * + * TODO: add docstring */ -void calibrate_imu_linear_acceleration(int16_t *imu_lin_acc_bias[3], int16_t *imu_ang_vel_bias[3]) +void send_tvc(Matrix u, Matrix * last_u, double yaw) { - int num_loops = 2500; // number of cycles to check measurements for bias - long a_sums[3] = {0, 0, 0}; // sum of linear acceleration measurements each loop to be averaged - long w_sums[3] = {0, 0, 0}; // sum of angular velocity measurements each loop to be averaged - - int16_t ax, ay, az, wx, wy, wz; // temp loop vars - - for (int i = 0; i < num_loops; i++) + //scale down angle to physical tvc limit + float input_magnitude=powf((pow(u.select(1, 1), 2)+pow(u.select(2, 1), 2)), 0.5); + if (input_magnitude>MAX_U) { - imu.getMotion6(&ax, &ay, &az, &wx, &wy, &wz); //we want to label the vertical axis as z. the MPUs are orientated with y as vertical - a_sums[0] += ax; - a_sums[1] += ay; - a_sums[2] += az; - - w_sums[0] += wx; - w_sums[1] += wy; - w_sums[2] += wz; + u.scale(MAX_U/input_magnitude); } - // find average bias - a_sums[0] /= num_loops; - a_sums[1] /= num_loops; - a_sums[2] /= num_loops; - - w_sums[0] /= num_loops; - w_sums[1] /= num_loops; - w_sums[2] /= num_loops; - - // store biases for later use - *imu_lin_acc_bias[0] = a_sums[0]; - *imu_lin_acc_bias[1] = a_sums[1]; - *imu_lin_acc_bias[2] = a_sums[2]; - - *imu_ang_vel_bias[0] = w_sums[0]; - *imu_ang_vel_bias[1] = w_sums[1]; - *imu_ang_vel_bias[2] = w_sums[2]; -} - -/* get_latest_measurements - * - * Wrapper around MPU6050::getMotion6 that converts the sensor counts into engineering values. - * - * Inputs: - * - MPU6050 imu: instance of an MPU 6050 IMU connection to read measurements from - * - float *a[3]: address of 3-array to store converted linear acceleration measurements - * - float *w[3]: address of 3-array to store converted angular velocity measurements - * - * Modifies: - * - Sets values of passed arrays based on converted sensor measurement values - * - Linear Acceleration conversion: $a_i = a_{m,i}\cdot\text{LSB}_{\text{linear}}\cdot1000\frac{\text{milli-gee}}{\text{gee}}\cdot9.80665\frac{\text{m/s}^2}{gee}$ - * - Angular Velocity conversion: $\omega_i = \omega_{m,i}\cdot\text{LSB}_{\text{angular}}\cdot0.0174...\frac{\text{rad}}{\text{deg}}$ - * where $a_{m,i}$ denotes the linear acceleration measurement in direction $i$ - * and $\omega_{m,i}$ denotes the angular velocity measurement about axis $i$. - * - * Outputs: - * - return 0 - */ -void get_latest_measurements(MPU6050 imu, float *a[3], float *w[3], bool debug=false) -{ - // READ DATA - int16_t ax, ay, az, wx, wy, wz; // temp vars to store raw measurements - imu.getMotion6(&ax, &ay, &az, &wx, &wy, &wz); // stores measurements in temp vars - - // CONVERT AND STORE DATA - *a[0] = (ax - IMU_LIN_ACC_BIAS[0])*LSB_LINEAR*1000*G_2_MS2; // (m/s^2) x-axis acceleration - *a[1] = (ay - IMU_LIN_ACC_BIAS[1])*LSB_LINEAR*1000*G_2_MS2; // (m/s^2) y-axis acceleration - *a[2] = (az - IMU_LIN_ACC_BIAS[2])*LSB_LINEAR*1000*G_2_MS2; // (m/s^2) z-axis acceleration - - *w[0] = (wx - IMU_ANG_VEL_BIAS)*LSB_ANGULAR*DEG_2_RAD; // (rad/s) x-axis angular velocity - *w[1] = (wy - IMU_ANG_VEL_BIAS)*LSB_ANGULAR*DEG_2_RAD; // (rad/s) y-axis angular velocity - *w[2] = (wz - IMU_ANG_VEL_BIAS)*LSB_ANGULAR*DEG_2_RAD; // (rad/s) z-axis angular velocity - - if (debug) { - print_measurements(a, w); + //send + float travel_magnitude=powf((pow(u.select(1, 1)-last_u.select(1, 1), 2)+pow(u.select(2, 1)-.select(2, 1), 2)), 0.5); + if (travel_magnitude>SERVO_SPEED*ws.dt) + { + u=last_u+(u-last_u).scale(SERVO_SPEED*ws.dt/travel_magnitude); } -} + *last_u=u; + //rotate input are body z axis + float gamma=yaw+BETA; + float rotation_values [4]={cos(gamma), sin(gamma), -sin(gamma), cos(gamma)}; + Matrix R=Matrix(2, 2, rotation_values); + u=R*u; -/* tvc_abs - * - * TODO: add docstring - */ -void send_tvc_signal(int x, int y, double gamma, int d) -{ - // cos and sin are native to arduino - double u = x*cos(gamma) + y*sin(gamma); - double v = y*cos(gamma) - x*sin(gamma); - ws.tvc_y.write(v + TVC_Y_OFFSET); - ws.tvc_x.write(u + TVC_X_OFFSET); + //convert to degrees, gear the angle, and round + ws.tvc_y.write(round(GEAR*RAD_2_DEG*u.select(2, 1))+TVC_Y_OFFSET); + ws.tvc_x.write(round(GEAR*RAD_2_DEG*u.select(1, 1))+TVC_X_OFFSET); } @@ -145,16 +60,8 @@ void send_tvc_signal(int x, int y, double gamma, int d) void setup() { // set up pins (OUTPUT and LOW are defined in Arduino.h) - pinMode(B_LED_1, OUTPUT); - pinMode(G_LED_1, OUTPUT); - pinMode(B_LED_2, OUTPUT); - pinMode(G_LED_2, OUTPUT); - - digitalWrite(B_LED_1, LOW); - digitalWrite(G_LED_1, LOW); - digitalWrite(B_LED_2, LOW); - digitalWrite(G_LED_2, LOW); + //TODO do we still need this???? // join I2C bus (I2Cdev library doesn't do this automatically) // TODO: do these need to be #if's, i.e. could they be regular C++ if's? #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE @@ -163,9 +70,8 @@ void setup() Fastwire::setup(400, true); #endif + //TODO flash setup flash.begin(9600); // begins flash chip at specified baud rate - if (eraseFlash) - flash.eraseChip(); // erases flash chip // set initial mission mode ws.mode = STARTUP_STABLE; @@ -173,43 +79,20 @@ void setup() // set up Thrust-Vector Controller (TVC) ws.tvc_x.attach(TVC_X_PIN); // attaches declared servo to specified pin ws.tvc_y.attach(TVC_Y_PIN); // attaches declared servo to specified pin - ws.tvc_top.attach(DROP_PIN); // attaches declared servo to specified pin - - ws.tvc_top.write(drop_mechanism_hold); delay(1000); // TODO: what is the "10" doing and can it be a mission constant? - - // actuate servo along x and then along y axis at startup - tvc_abs( 0, 0, BETA, TVC_DELAY*100); - tvc_abs( 30, 0, BETA, TVC_DELAY*100); - tvc_abs(-30, 0, BETA, TVC_DELAY*100); - tvc_abs( 0, 0, BETA, TVC_DELAY*100); - tvc_abs( 0, 30, BETA, TVC_DELAY*100); - tvc_abs( 0, -30, BETA, TVC_DELAY*100); - tvc_abs( 0, 0, BETA, TVC_DELAY*100); // set up IMUs - ws.imu_0.initialize(); - ws.imu_0.setFullScaleAccelRange(MPU6050_ACCEL_FS_8); // WARNING: changing this will require changing LSB_LINEAR mission constant - ws.imu_0.setFullScaleGyroRange(MPU6050_GYRO_FS_250); // WARNING: changing this will require changing LSB_ANGULAR mission constant - ws.imu_1.initialize(); - ws.imu_1.setFullScaleAccelRange(MPU6050_ACCEL_FS_8); // WARNING: changing this will require changing LSB_LINEAR mission constant - ws.imu_1.setFullScaleGyroRange(MPU6050_GYRO_FS_250); // WARNING: changing this will require changing LSB_ANGULAR mission constant // calibrate the IMU linear acceleration sensors calibrate_imu_linear_acceleration(*IMU_LIN_ACC_BIAS, *IMU_ANG_VEL_BIAS); - // TODO: finish pulling over the rest of AGON1a setup code below this point - - // TODO: (and not necessarily here) organize blink patterns by mode - - // set up pyro - pinMode(MOTOR_PIN, OUTPUT); - digitialWrite(MOTOR_PIN, LOW); - // set up controller - // TODO : move stuff below - ws.x << 0, 0, 0, 0, 0, 0; //state vector - ws.uLast[0] = 0; //last commanded tvc x input - ws.uLast[1] = 0; //last commanded tvc y input + float initialize_6 [6]={0, 0, 0, 0, 0, 0}; + float initialize_4 [4]={0, 0, 0, 0}; + float initialize_2 [2]={0, 0}; + ws.x=Matrix(6, 1, initialize_6); + ws.y=Matrix(4, 1, initialize_4); + ws.u=Matrix(2, 1, initialize_2); + ws.last_u=Matrix(2, 1, initialize_2); ws.calibrate_time = micros(); } @@ -232,57 +115,87 @@ void loop() { case (STARTUP_STABLE): { - if (change_mode_to_navigation(mode, false)) + if (change_mode_to_navigation(ws.mode, false)) { transition_to_navigation(); ws.mode = NAVIGATION; } else { - // TODO: implement this block + } break; } case (NAVIGATION): { - if (change_mode_to_burn_baby_burn(mode, false)) + if (change_mode_to_countdown(ws.mode, false)) + { + transition_to_countdown(); + ws.mode = COUNTDOWN; + } + else + { + //TODO: construct y + ws.x=ws.x+(L*(ws.y-(C*ws.x))).scale(ws.dt) //state estimation only using sensors + } + break; + } + case (COUNTDOWN) + { + if (change_mode_to_final_countdown(ws.mode, false)) + { + transition_to_final_countdown(); + ws.mode = FINAL_COUNTDOWN; + } + else + { + //TODO: construct y + ws.x=ws.x+(L*(ws.y-(C*ws.x))).scale(ws.dt) //state estimation only using sensors + } + break; + } + case(FINAL_COUNTDOWN) + { + if (change_mode_to_prep_tvc(ws.mode, false)) + { + transition_to_prep_tvc(); + ws.mode = PREP_TVC; + } + else + { + //TODO: construct y + ws.x=ws.x+(L*(ws.y-(C*ws.x))).scale(ws.dt) //state estimation only using sensors + } + break; + } + case(PREP_TVC) + { + if (change_mode_to_burn_baby_burn(ws.mode, false)) { transition_to_burn_baby_burn(); ws.mode = BURN_BABY_BURN; } else { - //construct x - //construct y - ws.x+=ws.dt*(ws.A*ws.x+ws.B*ws.u+ws.L*(ws.y-ws.C*ws.x)) //calculate next state + //TODO: construct y + ws.u=(K*ws.x).scale(-1);//calculate input + send_tvc(ws.u, &ws.last_u, ws.yaw); + ws.x=ws.x+(L*(ws.y-(C*ws.x))).scale(ws.dt) //state estimation only using sensors } break; } case (BURN_BABY_BURN): { - if (change_mode_to_shutdown_stable(mode, false)) + if (change_mode_to_shutdown_stable(ws.mode, false)) { transition_to_shutdown_stable(); ws.mode = SHUTDOWN_STABLE; } else { - //checks whether the burn time has surpassed the pre-defined burn interval - //if so, then updates the control constant by multiplying by the current thrust - if (ws.thrust_curve_count+1(ws.fire_time+T_time[ws.thrust_curve_count+1])*MEGA) - { - ws.thrust_curve_count++; - ws.K=K_template*T[ws.thrust_curve_count]; - ws.A=A_template*T[ws.thrust_curve_count]; - ws.B=B_template*T[ws.thrust_curve_count]; - ws.L=L_template*T[ws.thrust_curve_count]; - } - //construct x - //construct y - ws.u=-ws.K*ws.x; //calculate input - ws.x+=ws.dt*(ws.A*ws.x+ws.B*ws.u+ws.L*(ws.y-ws.C*ws.x)); //calculate next state - //process u - //send u to tvc + //TODO: construct y + ws.u=(K*ws.x).scale(-1); //calculate input + ws.x=ws.x+(A*ws.x+B*ws.last_u+L*(ws.y-(C*ws.x))).scale(ws.dt) //state estimation using Kalman filter } break; } @@ -292,7 +205,6 @@ void loop() break; } } - // TODO: add blink // TODO: add data record // TODO: add (somewhere else) data struct } \ No newline at end of file diff --git a/src/matrix.cpp b/main/matrix.cpp similarity index 57% rename from src/matrix.cpp rename to main/matrix.cpp index 824946e..643b752 100644 --- a/src/matrix.cpp +++ b/main/matrix.cpp @@ -51,55 +51,55 @@ float * m_add_helper(float * A, float * B, int elements) { } //matrix multiplication -Matrix mMult(Matrix A, Matrix B) +Matrix Matrix::operator*(Matrix B) { - const int m=A.rows; + const int m=rows; const int p=B.columns; - const int n=A.columns; - float * values; - if (A.columns==B.rows) + const int n=columns; + float * new_values; + if (columns==B.rows) { - values=m_mult_helper(A.values, B.values, m, n, p); + new_values=m_mult_helper(values, B.values, m, n, p); } - return Matrix(m, p, values); + return Matrix(m, p, new_values); } //matrix addition function -Matrix mAdd(Matrix A, Matrix B) +Matrix Matrix::operator+(Matrix B) { - const int m_a=A.rows; + const int m_a=rows; const int n_b=B.columns; - const int n_a=A.columns; + const int n_a=columns; const int m_b=B.rows; - float * values; + float * new_values; if ((m_a==m_b)&&(n_a==n_b)) { - values=m_add_helper(A.values, B.values, m_a*n_a); + new_values=m_add_helper(values, B.values, m_a*n_a); } - return Matrix(m_a, n_a, values); + return Matrix(m_a, n_a, new_values); } //scalar multiplication function -Matrix sMult(Matrix A, float k) +Matrix Matrix :: scale(float k) { - float * values; - values=s_mult_helper(A.values, k, A.rows*A.columns); - return Matrix(A.rows, A.columns, values); + float * new_values; + new_values=s_mult_helper(values, k, rows*columns); + return Matrix(rows, columns, new_values); } //matrix subtraction function -Matrix mSub(Matrix A, Matrix B) +Matrix Matrix::operator-(Matrix B) { - const int m_a=A.rows; + const int m_a=rows; const int n_b=B.columns; - const int n_a=A.columns; + const int n_a=columns; const int m_b=B.rows; - float * values; + float * new_values; if ((m_a==m_b)&&(n_a==n_b)) { - values=m_sub_helper(A.values, B.values, m_a*n_a); + new_values=m_sub_helper(values, B.values, m_a*n_a); } - return Matrix(m_a, n_a, values); + return Matrix(m_a, n_a, new_values); } void display_matrix(Matrix A) @@ -112,4 +112,21 @@ void display_matrix(Matrix A) } cout << "\n"; } -} \ No newline at end of file +} + +/** for testing +int main() +{ + float a_values [9] ={1, 0, 1, 0, 1, 1, 1, 0, 1}; + float b_values [9] ={3, 0, 2, 2, 1, 3, 2, 2, -1}; + Matrix A=Matrix(3, 3, a_values); + Matrix B=Matrix(3, 3, b_values); + + float d_values [6]= {-3, -10, 7, 2, 5, 0}; + Matrix D=Matrix(3, 2, d_values); + Matrix E=(A+B)*D; + display_matrix(E); + + return 0; +} +*/ \ No newline at end of file diff --git a/src/matrix.hh b/main/matrix.hh similarity index 80% rename from src/matrix.hh rename to main/matrix.hh index 4b94bae..6b4335e 100644 --- a/src/matrix.hh +++ b/main/matrix.hh @@ -23,12 +23,12 @@ class Matrix { return values[(row-1)*columns+(column-1)]; } + Matrix operator+(Matrix); + Matrix operator-(Matrix); + Matrix scale (float); + Matrix operator*(Matrix); }; -Matrix mMult(Matrix, Matrix); -Matrix mAdd(Matrix, Matrix); -Matrix sMult(Matrix, float); -Matrix mSub(Matrix, Matrix); void display_matrix(Matrix); #endif // __MODING_HH__ \ No newline at end of file diff --git a/main/mission_constants.hh b/main/mission_constants.hh index e7ca0dd..a56d53b 100644 --- a/main/mission_constants.hh +++ b/main/mission_constants.hh @@ -2,8 +2,7 @@ #define __MISSION_CONSTANTS_HH__ #include -#include // linear algebra library -#include // needed for Eigen313.h to work +#include "matrix.hh" //***************************************************************************** @@ -14,37 +13,32 @@ const float RAD_2_DEG = 57.29577951308232; // (deg/rad) conversion factor from const float G_2_MS2 = 9.80665; // (m/s^2/gee) conversion factor from gee to m/s^2 const float MEGA = 1.0e9; // (--) SI Mega prefix +const int MEGA_I=1e9; +const float KILO=1.0e3; +const float KILO_I=1e3; //***************************************************************************** // MISSION //***************************************************************************** -//TODO: modify modes - - - -const bool eraseFlash=false; // Missing modes (controls what happens in the loop) enum Mode { STARTUP_STABLE = 0, - NAVIGATION = 1, - BURN_BABY_BURN = 2, - SHUTDOWN_STABLE = 3 + COUNTDOWN = 1, + FINAL_COUNTDOWN = 2, + PREP_TVC = 3, + BURN_BABY_BURN = 4, + SHUTDOWN_STABLE = 5 }; -// timing -const int COUNTDOWN_WAIT = 10; // (TODO: units) TODO: what is this? -const int CALIBRATE_TIME = 0; // (TODO: units) TODO: what is this? - -// z-acceleration > fireGoal+fireBuffer continuously for fireTBuffer before switching to -const float fireTBuffer = 0.01*MEGA; // (us) TODO: what is this? -const float fireBuffer = 3276.0/2.0/16.0; // (m/s^2) ~0.25 TODO: what is this -const float fireGoal = 0.0; // -g TODO: what is this? - -// |z-acceleration| < landBuffer+landGoal continuously for landTBuffer before switching to -const float landTBuffer = 0.5*MEGA; // (TODO: units) TODO: what is this? -const float landBuffer = 3276.0/2.0/8.0; // (TODO: units) TODO: what is this? -const float landGoal = 0.0; // (TODO: units) TODO: what is this? +//most modes change by time +//after a predefined time period we switch to the next mode +//MODE TIME PERIODS +const int STARTUP_STABLE_PERIOD=10; +const int COUNTDOWN_PERIOD=20; +const int FINAL_COUNTDOWN_PERIOD=7; +const int PREP_TVC_PERIOD=3; +const int BURN_BABY_BURN_PERIOD=10; //***************************************************************************** // HARDWARE @@ -63,14 +57,6 @@ const float LSB_LINEAR = 2048.0; // (milli-gee/count) note documentation gives */ const float LSB_ANGULAR = 131.0; // (deg/s/count) note documentation gives incorrectly inverted units -/* These bias calibration values account for sensor bias - * in linear acceleration and angular velocity measurements. - * Can't be declared a const since it's calculated - * on-the-fly every startup. - */ -int16_t IMU_LIN_ACC_BIAS[3]; // (count) IMU linear acceleration bias along each axis -int16_t IMU_ANG_VEL_BIAS[3]; // (count) IMU angular velocity bias about each axis - // LEDs //TODO:modify values const int B_LED_1 = 6; // Blue LED1 Pin @@ -78,52 +64,68 @@ const int G_LED_1 = 4; // Green LED1 Pin const int B_LED_2 = 9; // Blue LED2 Pin const int G_LED_2 = 8; // Green LED2 Pin -/* BLINK INDICES: - * - 0: Rate (Hz) - * - 1-4: A, command for each of Green 1, Blue 1, Green 2, Blue 2 - * - 5-8: B, command for each of Green 1, Blue 1, Green 2, Blue 2 - */ -//TODO:debug on board -const int BLINK_0[9] = {1, 1, 0, 1, 0, 0, 0, 0, 0}; -const int BLINK_1[9] = {1, 0, 1, 0, 1, 0, 1, 0, 1}; -const int BLINK_2[9] = {1, 1, 0, 1, 0, 1, 0, 1, 0}; -const int BLINK_3[9] = {1, 0, 1, 0, 1, 0, 1, 0, 1}; - const int MOTOR_PIN = 22; // Pin that signals motor to fire // Thrust-Vector Controller (TVC) //TODO: modify values const int DROP_PIN = 5; // pin for the servo in the drop mechanism const int TVC_X_PIN = 20; // pin for the servo that actuates TVC around x body axis const int TVC_Y_PIN = 21; // pin for the servo that actuates TVC around y body axis -const int GEAR = 9; // gearing ratio of the servo to the TVC +const float GEAR = 9; // gearing ratio of the servo to the TVC const int drop_mechanism_hold=10; //TODO: modify after assembly const int drop_mechanism_release=120; //TODO: modify after assembly -const int TVC_X_OFFSET = 85; // TODO: add description -const int TVC_Y_OFFSET = 83; // TODO: add description +const float SERVO_SPEED; +const float TVC_X_OFFSET = 85; // TODO: add description +const float TVC_Y_OFFSET = 83; // TODO: add description +float MAX_U= 5*DEG_2_RAD; //maximum gimbal angle const float BETA = 0.95; // angle (rad) that corrects for misalignment between body frame and TVC frame -const int TVC_DELAY = 2; // time (in miliseconds) for servo to move 1 deg--> how much delay between servo commands +const int TVC_DELAY = 4; // time (in miliseconds) for servo to move 1 deg--> how much delay between servo commands // TODO: define these quaternions based on IMU installation in rocket const float QR_IMU_TO_BODY[4] = {1.0, 0.0, 0.0, 0.0}; // (--) right, scalar-first, Hamiltonian quaternion transforming IMU frame to body frame const float QR_BODY_TO_IMU[4] = {1.0, 0.0, 0.0, 0.0}; // (--) right, scalar-first, Hamiltonian quaternion transforming body frame to IMU frame - -//control constants -MatrixXf A_template(36); //dynamics matrix -MatrixXf B_template(12); //input matrix -MatrixXf L_template(36); //Kalman gain -MatrixXf K_template(12); //LQR -> updates mid flight -MatrixXf C(36); //Sensor matrix -C=MatrixXd::Identity(6, 6); - -//thrust curve -const float T={30, 9}; //Thrust values (in Newtons) -const float T_time={0, .33}; //time in the burn when we start to use the corresponding thrust value -const int T_intervals=2; //how many thrust data points do we have - +const float THRUST=10; //TODO: make exact +const float MOMENT_ARM=.265; //TODO: make exact +const float MOMENT_INERTIA_XX=1; //TODO: make exact +const float MOMENT_INERTIA_YY=1;//TODO: make exact + +//control constants TODO: fill these out +float A_VALUES [36] = {0,0,0,0,0,0, + 0,0,0,0,0,0, + 0,0,0,0,0,0, + 0,0,0,0,0,0, + 0,0,0,0,0,0, + 0,0,0,0,0,0}; //dynamics matrix +Matrix A=Matrix(6, 6, A_VALUES); + + float B_VALUES [12] = {0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0}; //input matrix +Matrix B=Matrix(6, 2, B_VALUES); + + float K_VALUES [12] = {0,0,0,0,0,0, + 0,0,0,0,0,0}; //controller gain +Matrix K=Matrix(2, 6, K_VALUES); + + float C_VALUES [24] = {1,0,0,0,0,0, + 0,0,1,0,0,0, + 0,0,0,1,0,0, + 0,0,0,0,0,1}; //sensor matrix +Matrix C=Matrix(4, 6, C_VALUES); + + float L_VALUES [24] = {0, 0, 0, 0, + 0, 0, 0, 0, + 0, 0, 0, 0, + 0, 0, 0, 0, + 0, 0, 0, 0, + 0, 0, 0, 0}; //kalman gain +Matrix L=Matrix(6, 4, L_VALUES); #endif // __MISSION_CONSTANTS_HH__ \ No newline at end of file diff --git a/main/moding.cpp b/main/moding.cpp index ddb65f2..be87e9c 100644 --- a/main/moding.cpp +++ b/main/moding.cpp @@ -1,16 +1,7 @@ #include "mission_constants.hh" #include "moding.hh" - -/* change_mode_to_navigation - * - * Determines whether to change the mode to NAVIGATION. - * - * Conditions: - * - current mode is STARTUP_STABLE - * - TODO: determine any remaining conditions - */ -bool change_mode_to_navigation(Mode current_mode, bool cond) +bool change_mode_coundown(Mode current_mode, bool cond) { bool ret = false; if (current_mode == STARTUP_STABLE && cond) @@ -20,6 +11,25 @@ bool change_mode_to_navigation(Mode current_mode, bool cond) return ret; } +bool change_mode_to_final_countdown(Mode current_mode, bool cond) +{ + bool ret = false; + if (current_mode == COUNTDOWN && cond) + { + ret = true; + } + return ret; +} + +bool change_mode_to_prep_tvc(Mode current_mode, bool cond) +{ + bool ret = false; + if (current_mode == FINAL_COUNTDOWN && cond) + { + ret = true; + } + return ret; +} /* change_mode_to_burn_baby_burn * @@ -32,7 +42,7 @@ bool change_mode_to_navigation(Mode current_mode, bool cond) bool change_mode_to_burn_baby_burn(Mode current_mode, bool cond) { bool ret = false; - if (current_mode == NAVIGATION && cond) + if (current_mode == PREP_TVC && cond) { ret = true; } @@ -59,15 +69,26 @@ bool change_mode_to_shutdown_stable(Mode current_mode, bool cond) } -/* transition_to_navigation - * - * Handles anything that needs to happen only once when - * changing modes from STARTUP_STABLE to NAVIGATION. - */ -void transition_to_navigation() + +void transition_to_countdown() { + //TODO : change led + //reset navigation + //TODO: set final countdown point + //TODO: change LED } +void transition_to_final_countdown() +{ + //TODO: set prep tvc point + //TODO: change LED +} + +void transition_to_prep_tvc() +{ + //TODO: set burn time + //TODO: change LED +} /* transition_to_burn_baby_burn * @@ -76,10 +97,10 @@ void transition_to_navigation() */ void transition_to_burn_baby_burn() { - // TODO: engine ignition occurs here + //set stop time + //TODO: change LED } - /* transition_to_shutdown_stable * * Handles anything that needs to happen only once when @@ -87,5 +108,7 @@ void transition_to_burn_baby_burn() */ void transition_to_shutdown_stable() { - // TODO: engine shutdown and safing occurs here + //TODO: change LED + //transfer data + //TODO: change LED } \ No newline at end of file diff --git a/main/moding.hh b/main/moding.hh index 22ecc76..3267380 100644 --- a/main/moding.hh +++ b/main/moding.hh @@ -5,11 +5,15 @@ #include -bool change_mode_to_navigation(bool); +bool change_mode_to_countdown(bool); +bool change_mode_to_final_countdown(bool); +bool change_mode_to_prep_tvc(bool); bool change_mode_to_burn_baby_burn(bool); bool change_mode_to_shutdown_stable(bool); -void transition_to_navigation(); +void transition_to_countdown(); +void transition_to_final_countdown(); +void transition_to_prep_tvc(); void transition_to_burn_baby_burn(); void transition_to_shutdown_stable(); diff --git a/main/workspace.hh b/main/workspace.hh index 0cf57a8..d8bfb2d 100644 --- a/main/workspace.hh +++ b/main/workspace.hh @@ -4,9 +4,8 @@ #include #include "mission_constants.hh" #include "moding.hh" -#include "MPU6050.h" // MPU 6050 IMU Library -#include // TODO: what's this? -#include "Wire.h" // Arduino library +//#include // TODO: what's this? +//#include "Wire.h" // Arduino library /* Workspace @@ -30,11 +29,6 @@ class Workspace //***************************************************************************** // LOOP VARIABLES //***************************************************************************** - // LED blinks TODO: add descriptions to these - int blink_master[36]; // TODO: maybe delay - long next_blink; // the next time (us) when the led colors should switch - bool blink_flag = false; //led colors switch when blink_flag is true - // clock time unsigned long calibrate_time = 0; //momment main loop starts unsigned long t_prev_cycle = 0; // (us) contains the time of the previous cycle at the start of each loop @@ -54,22 +48,15 @@ class Workspace Mode mode = STARTUP_STABLE; // Servos - Servo servo_top; // servo in the drop mechanism Servo tvc_x; // servo that actuates TVC around x body axis Servo tvc_y; // servo that actuates TVC around x body axis //control vectors - VectorXi x(6); //state vector = {vx, theta_y, d_theta_y_dt, vy, theta_x, d_theta_x_dt} global frame and euler angles - VectorXf u(2); //input vector - float maxU = 5*DEG_2_RAD; //maximum gimbal angle - int uLast[2] = {0, 0}; //commanded servo angle - - //control constants -> these are variable throughout the flight -> multiples of the templates in mission constants - MatrixXf A(36); //dynamics matrix - MatrixXf B(12); //input matrix - MatrixXf L(36); //Kalman gain - MatrixXf K(12); //LQR gain - int thrust_curve_count=0; //current index of the thrust curve array + Matrix x; //state vector = {vx, theta_y, d_theta_y_dt, vy, theta_x, d_theta_x_dt} global frame and euler angle + Matrix u; //input vector + Matrix y; //output vector + Matrix last_u; + float yaw; // state float r_body[3] = {0.0, 0.0, 0.0}; // (m) position of the body frame origin TODO: define inertial frame