diff --git a/src/EigenArduino b/src/EigenArduino new file mode 160000 index 0000000..d8997d8 --- /dev/null +++ b/src/EigenArduino @@ -0,0 +1 @@ +Subproject commit d8997d8217aa44c565de62a667ff9a21798848de diff --git a/src/I2Cdev.cpp b/src/I2Cdev.cpp new file mode 100644 index 0000000..5525624 --- /dev/null +++ b/src/I2Cdev.cpp @@ -0,0 +1,1474 @@ +// I2Cdev library collection - Main I2C device class +// Abstracts bit and byte I2C R/W functions into a convenient class +// 2013-06-05 by Jeff Rowberg +// +// Changelog: +// 2013-05-06 - add Francesco Ferrara's Fastwire v0.24 implementation with small modifications +// 2013-05-05 - fix issue with writing bit values to words (Sasquatch/Farzanegan) +// 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire +// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation +// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums) +// 2011-10-03 - added automatic Arduino version detection for ease of use +// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications +// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x) +// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default +// 2011-08-02 - added support for 16-bit registers +// - fixed incorrect Doxygen comments on some methods +// - added timeout value for read operations (thanks mem @ Arduino forums) +// 2011-07-30 - changed read/write function structures to return success or byte counts +// - made all methods static for multi-device memory savings +// 2011-07-28 - initial release + +/* ============================================ +I2Cdev device library code is placed under the MIT license +Copyright (c) 2013 Jeff Rowberg + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. +=============================================== +*/ + +#include "I2Cdev.h" + +#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE + + #ifdef I2CDEV_IMPLEMENTATION_WARNINGS + #if ARDUINO < 100 + #warning Using outdated Arduino IDE with Wire library is functionally limiting. + #warning Arduino IDE v1.6.5+ with I2Cdev Fastwire implementation is recommended. + #warning This I2Cdev implementation does not support: + #warning - Repeated starts conditions + #warning - Timeout detection (some Wire requests block forever) + #elif ARDUINO == 100 + #warning Using outdated Arduino IDE with Wire library is functionally limiting. + #warning Arduino IDE v1.6.5+ with I2Cdev Fastwire implementation is recommended. + #warning This I2Cdev implementation does not support: + #warning - Repeated starts conditions + #warning - Timeout detection (some Wire requests block forever) + #elif ARDUINO > 100 + /*#warning Using current Arduino IDE with Wire library is functionally limiting. + #warning Arduino IDE v1.6.5+ with I2CDEV_BUILTIN_FASTWIRE implementation is recommended. + #warning This I2Cdev implementation does not support: + #warning - Timeout detection (some Wire requests block forever)*/ + #endif + #endif + +#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE + + //#error The I2CDEV_BUILTIN_FASTWIRE implementation is known to be broken right now. Patience, Iago! + +#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE + + #ifdef I2CDEV_IMPLEMENTATION_WARNINGS + #warning Using I2CDEV_BUILTIN_NBWIRE implementation may adversely affect interrupt detection. + #warning This I2Cdev implementation does not support: + #warning - Repeated starts conditions + #endif + + // NBWire implementation based heavily on code by Gene Knight + // Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html + // Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html + TwoWire Wire; + +#endif + +#ifndef BUFFER_LENGTH +// band-aid fix for platforms without Wire-defined BUFFER_LENGTH (removed from some official implementations) +#define BUFFER_LENGTH 32 +#endif + +/** Default constructor. + */ +I2Cdev::I2Cdev() { +} + +/** Read a single bit from an 8-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to read from + * @param bitNum Bit position to read (0-7) + * @param data Container for single bit value + * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) + * @return Status of read operation (true = success) + */ +int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) { + uint8_t b; + uint8_t count = readByte(devAddr, regAddr, &b, timeout); + *data = b & (1 << bitNum); + return count; +} + +/** Read a single bit from a 16-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to read from + * @param bitNum Bit position to read (0-15) + * @param data Container for single bit value + * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) + * @return Status of read operation (true = success) + */ +int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) { + uint16_t b; + uint8_t count = readWord(devAddr, regAddr, &b, timeout); + *data = b & (1 << bitNum); + return count; +} + +/** Read multiple bits from an 8-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to read from + * @param bitStart First bit position to read (0-7) + * @param length Number of bits to read (not more than 8) + * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05) + * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) + * @return Status of read operation (true = success) + */ +int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) { + // 01101001 read byte + // 76543210 bit numbers + // xxx args: bitStart=4, length=3 + // 010 masked + // -> 010 shifted + uint8_t count, b; + if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) { + uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); + b &= mask; + b >>= (bitStart - length + 1); + *data = b; + } + return count; +} + +/** Read multiple bits from a 16-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to read from + * @param bitStart First bit position to read (0-15) + * @param length Number of bits to read (not more than 16) + * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05) + * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) + * @return Status of read operation (1 = success, 0 = failure, -1 = timeout) + */ +int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) { + // 1101011001101001 read byte + // fedcba9876543210 bit numbers + // xxx args: bitStart=12, length=3 + // 010 masked + // -> 010 shifted + uint8_t count; + uint16_t w; + if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) { + uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1); + w &= mask; + w >>= (bitStart - length + 1); + *data = w; + } + return count; +} + +/** Read single byte from an 8-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to read from + * @param data Container for byte value read from device + * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) + * @return Status of read operation (true = success) + */ +int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) { + return readBytes(devAddr, regAddr, 1, data, timeout); +} + +/** Read single word from a 16-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to read from + * @param data Container for word value read from device + * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) + * @return Status of read operation (true = success) + */ +int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) { + return readWords(devAddr, regAddr, 1, data, timeout); +} + +/** Read multiple bytes from an 8-bit device register. + * @param devAddr I2C slave device address + * @param regAddr First register regAddr to read from + * @param length Number of bytes to read + * @param data Buffer to store read data in + * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) + * @return Number of bytes read (-1 indicates failure) + */ +int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) { + #ifdef I2CDEV_SERIAL_DEBUG + Serial.print("I2C (0x"); + Serial.print(devAddr, HEX); + Serial.print(") reading "); + Serial.print(length, DEC); + Serial.print(" bytes from 0x"); + Serial.print(regAddr, HEX); + Serial.print("..."); + #endif + + int8_t count = 0; + uint32_t t1 = millis(); + + #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) + + #if (ARDUINO < 100) + // Arduino v00xx (before v1.0), Wire library + + // I2C/TWI subsystem uses internal buffer that breaks with large data requests + // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // smaller chunks instead of all at once + for (uint8_t k = 0; k < length; k += min((int)length, BUFFER_LENGTH)) { + Wire.beginTransmission(devAddr); + Wire.send(regAddr); + Wire.endTransmission(); + Wire.beginTransmission(devAddr); + Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH)); + + for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) { + data[count] = Wire.receive(); + #ifdef I2CDEV_SERIAL_DEBUG + Serial.print(data[count], HEX); + if (count + 1 < length) Serial.print(" "); + #endif + } + + Wire.endTransmission(); + } + #elif (ARDUINO == 100) + // Arduino v1.0.0, Wire library + // Adds standardized write() and read() stream methods instead of send() and receive() + + // I2C/TWI subsystem uses internal buffer that breaks with large data requests + // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // smaller chunks instead of all at once + for (uint8_t k = 0; k < length; k += min((int)length, BUFFER_LENGTH)) { + Wire.beginTransmission(devAddr); + Wire.write(regAddr); + Wire.endTransmission(); + Wire.beginTransmission(devAddr); + Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH)); + + for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) { + data[count] = Wire.read(); + #ifdef I2CDEV_SERIAL_DEBUG + Serial.print(data[count], HEX); + if (count + 1 < length) Serial.print(" "); + #endif + } + + Wire.endTransmission(); + } + #elif (ARDUINO > 100) + // Arduino v1.0.1+, Wire library + // Adds official support for repeated start condition, yay! + + // I2C/TWI subsystem uses internal buffer that breaks with large data requests + // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // smaller chunks instead of all at once + for (uint8_t k = 0; k < length; k += min((int)length, BUFFER_LENGTH)) { + Wire.beginTransmission(devAddr); + Wire.write(regAddr); + Wire.endTransmission(); + Wire.beginTransmission(devAddr); + Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH)); + + for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) { + data[count] = Wire.read(); + #ifdef I2CDEV_SERIAL_DEBUG + Serial.print(data[count], HEX); + if (count + 1 < length) Serial.print(" "); + #endif + } + } + #endif + + #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) + + // Fastwire library + // no loop required for fastwire + uint8_t status = Fastwire::readBuf(devAddr << 1, regAddr, data, length); + if (status == 0) { + count = length; // success + } else { + count = -1; // error + } + + #endif + + // check for timeout + if (timeout > 0 && millis() - t1 >= timeout && count < length) count = -1; // timeout + + #ifdef I2CDEV_SERIAL_DEBUG + Serial.print(". Done ("); + Serial.print(count, DEC); + Serial.println(" read)."); + #endif + + return count; +} + +/** Read multiple words from a 16-bit device register. + * @param devAddr I2C slave device address + * @param regAddr First register regAddr to read from + * @param length Number of words to read + * @param data Buffer to store read data in + * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) + * @return Number of words read (-1 indicates failure) + */ +int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) { + #ifdef I2CDEV_SERIAL_DEBUG + Serial.print("I2C (0x"); + Serial.print(devAddr, HEX); + Serial.print(") reading "); + Serial.print(length, DEC); + Serial.print(" words from 0x"); + Serial.print(regAddr, HEX); + Serial.print("..."); + #endif + + int8_t count = 0; + uint32_t t1 = millis(); + +#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE + + #if (ARDUINO < 100) + // Arduino v00xx (before v1.0), Wire library + + // I2C/TWI subsystem uses internal buffer that breaks with large data requests + // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // smaller chunks instead of all at once + for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) { + Wire.beginTransmission(devAddr); + Wire.send(regAddr); + Wire.endTransmission(); + Wire.beginTransmission(devAddr); + Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes + + bool msb = true; // starts with MSB, then LSB + for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { + if (msb) { + // first byte is bits 15-8 (MSb=15) + data[count] = Wire.receive() << 8; + } else { + // second byte is bits 7-0 (LSb=0) + data[count] |= Wire.receive(); + #ifdef I2CDEV_SERIAL_DEBUG + Serial.print(data[count], HEX); + if (count + 1 < length) Serial.print(" "); + #endif + count++; + } + msb = !msb; + } + + Wire.endTransmission(); + } + #elif (ARDUINO == 100) + // Arduino v1.0.0, Wire library + // Adds standardized write() and read() stream methods instead of send() and receive() + + // I2C/TWI subsystem uses internal buffer that breaks with large data requests + // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // smaller chunks instead of all at once + for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) { + Wire.beginTransmission(devAddr); + Wire.write(regAddr); + Wire.endTransmission(); + Wire.beginTransmission(devAddr); + Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes + + bool msb = true; // starts with MSB, then LSB + for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { + if (msb) { + // first byte is bits 15-8 (MSb=15) + data[count] = Wire.read() << 8; + } else { + // second byte is bits 7-0 (LSb=0) + data[count] |= Wire.read(); + #ifdef I2CDEV_SERIAL_DEBUG + Serial.print(data[count], HEX); + if (count + 1 < length) Serial.print(" "); + #endif + count++; + } + msb = !msb; + } + + Wire.endTransmission(); + } + #elif (ARDUINO > 100) + // Arduino v1.0.1+, Wire library + // Adds official support for repeated start condition, yay! + + // I2C/TWI subsystem uses internal buffer that breaks with large data requests + // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // smaller chunks instead of all at once + for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) { + Wire.beginTransmission(devAddr); + Wire.write(regAddr); + Wire.endTransmission(); + Wire.beginTransmission(devAddr); + Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes + + bool msb = true; // starts with MSB, then LSB + for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { + if (msb) { + // first byte is bits 15-8 (MSb=15) + data[count] = Wire.read() << 8; + } else { + // second byte is bits 7-0 (LSb=0) + data[count] |= Wire.read(); + #ifdef I2CDEV_SERIAL_DEBUG + Serial.print(data[count], HEX); + if (count + 1 < length) Serial.print(" "); + #endif + count++; + } + msb = !msb; + } + + Wire.endTransmission(); + } + #endif + + #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) + + // Fastwire library + // no loop required for fastwire + uint8_t intermediate[(uint8_t)length*2]; + uint8_t status = Fastwire::readBuf(devAddr << 1, regAddr, intermediate, (uint8_t)(length * 2)); + if (status == 0) { + count = length; // success + for (uint8_t i = 0; i < length; i++) { + data[i] = (intermediate[2*i] << 8) | intermediate[2*i + 1]; + } + } else { + count = -1; // error + } + + #endif + + if (timeout > 0 && millis() - t1 >= timeout && count < length) count = -1; // timeout + + #ifdef I2CDEV_SERIAL_DEBUG + Serial.print(". Done ("); + Serial.print(count, DEC); + Serial.println(" read)."); + #endif + + return count; +} + +/** write a single bit in an 8-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to write to + * @param bitNum Bit position to write (0-7) + * @param value New bit value to write + * @return Status of operation (true = success) + */ +bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) { + uint8_t b; + readByte(devAddr, regAddr, &b); + b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum)); + return writeByte(devAddr, regAddr, b); +} + +/** write a single bit in a 16-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to write to + * @param bitNum Bit position to write (0-15) + * @param value New bit value to write + * @return Status of operation (true = success) + */ +bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) { + uint16_t w; + readWord(devAddr, regAddr, &w); + w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum)); + return writeWord(devAddr, regAddr, w); +} + +/** Write multiple bits in an 8-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to write to + * @param bitStart First bit position to write (0-7) + * @param length Number of bits to write (not more than 8) + * @param data Right-aligned value to write + * @return Status of operation (true = success) + */ +bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) { + // 010 value to write + // 76543210 bit numbers + // xxx args: bitStart=4, length=3 + // 00011100 mask byte + // 10101111 original value (sample) + // 10100011 original & ~mask + // 10101011 masked | value + uint8_t b; + if (readByte(devAddr, regAddr, &b) != 0) { + uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); + data <<= (bitStart - length + 1); // shift data into correct position + data &= mask; // zero all non-important bits in data + b &= ~(mask); // zero all important bits in existing byte + b |= data; // combine data with existing byte + return writeByte(devAddr, regAddr, b); + } else { + return false; + } +} + +/** Write multiple bits in a 16-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register regAddr to write to + * @param bitStart First bit position to write (0-15) + * @param length Number of bits to write (not more than 16) + * @param data Right-aligned value to write + * @return Status of operation (true = success) + */ +bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) { + // 010 value to write + // fedcba9876543210 bit numbers + // xxx args: bitStart=12, length=3 + // 0001110000000000 mask word + // 1010111110010110 original value (sample) + // 1010001110010110 original & ~mask + // 1010101110010110 masked | value + uint16_t w; + if (readWord(devAddr, regAddr, &w) != 0) { + uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1); + data <<= (bitStart - length + 1); // shift data into correct position + data &= mask; // zero all non-important bits in data + w &= ~(mask); // zero all important bits in existing word + w |= data; // combine data with existing word + return writeWord(devAddr, regAddr, w); + } else { + return false; + } +} + +/** Write single byte to an 8-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register address to write to + * @param data New byte value to write + * @return Status of operation (true = success) + */ +bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) { + return writeBytes(devAddr, regAddr, 1, &data); +} + +/** Write single word to a 16-bit device register. + * @param devAddr I2C slave device address + * @param regAddr Register address to write to + * @param data New word value to write + * @return Status of operation (true = success) + */ +bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) { + return writeWords(devAddr, regAddr, 1, &data); +} + +/** Write multiple bytes to an 8-bit device register. + * @param devAddr I2C slave device address + * @param regAddr First register address to write to + * @param length Number of bytes to write + * @param data Buffer to copy new data from + * @return Status of operation (true = success) + */ +bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data) { + #ifdef I2CDEV_SERIAL_DEBUG + Serial.print("I2C (0x"); + Serial.print(devAddr, HEX); + Serial.print(") writing "); + Serial.print(length, DEC); + Serial.print(" bytes to 0x"); + Serial.print(regAddr, HEX); + Serial.print("..."); + #endif + uint8_t status = 0; + #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) + Wire.beginTransmission(devAddr); + Wire.send((uint8_t) regAddr); // send address + #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ + || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ + || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) + Wire.beginTransmission(devAddr); + Wire.write((uint8_t) regAddr); // send address + #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) + Fastwire::beginTransmission(devAddr); + Fastwire::write(regAddr); + #endif + for (uint8_t i = 0; i < length; i++) { + #ifdef I2CDEV_SERIAL_DEBUG + Serial.print(data[i], HEX); + if (i + 1 < length) Serial.print(" "); + #endif + #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) + Wire.send((uint8_t) data[i]); + #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ + || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ + || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) + Wire.write((uint8_t) data[i]); + #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) + Fastwire::write((uint8_t) data[i]); + #endif + } + #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) + Wire.endTransmission(); + #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ + || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ + || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) + status = Wire.endTransmission(); + #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) + Fastwire::stop(); + //status = Fastwire::endTransmission(); + #endif + #ifdef I2CDEV_SERIAL_DEBUG + Serial.println(". Done."); + #endif + return status == 0; +} + +/** Write multiple words to a 16-bit device register. + * @param devAddr I2C slave device address + * @param regAddr First register address to write to + * @param length Number of words to write + * @param data Buffer to copy new data from + * @return Status of operation (true = success) + */ +bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data) { + #ifdef I2CDEV_SERIAL_DEBUG + Serial.print("I2C (0x"); + Serial.print(devAddr, HEX); + Serial.print(") writing "); + Serial.print(length, DEC); + Serial.print(" words to 0x"); + Serial.print(regAddr, HEX); + Serial.print("..."); + #endif + uint8_t status = 0; + #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) + Wire.beginTransmission(devAddr); + Wire.send(regAddr); // send address + #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ + || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ + || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) + Wire.beginTransmission(devAddr); + Wire.write(regAddr); // send address + #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) + Fastwire::beginTransmission(devAddr); + Fastwire::write(regAddr); + #endif + for (uint8_t i = 0; i < length; i++) { + #ifdef I2CDEV_SERIAL_DEBUG + Serial.print(data[i], HEX); + if (i + 1 < length) Serial.print(" "); + #endif + #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) + Wire.send((uint8_t)(data[i] >> 8)); // send MSB + Wire.send((uint8_t)data[i]); // send LSB + #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ + || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ + || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) + Wire.write((uint8_t)(data[i] >> 8)); // send MSB + Wire.write((uint8_t)data[i]); // send LSB + #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) + Fastwire::write((uint8_t)(data[i] >> 8)); // send MSB + status = Fastwire::write((uint8_t)data[i]); // send LSB + if (status != 0) break; + #endif + } + #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) + Wire.endTransmission(); + #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ + || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ + || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) + status = Wire.endTransmission(); + #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) + Fastwire::stop(); + //status = Fastwire::endTransmission(); + #endif + #ifdef I2CDEV_SERIAL_DEBUG + Serial.println(". Done."); + #endif + return status == 0; +} + +/** Default timeout value for read operations. + * Set this to 0 to disable timeout detection. + */ +uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT; + +#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE + // I2C library + ////////////////////// + // Copyright(C) 2012 + // Francesco Ferrara + // ferrara[at]libero[point]it + ////////////////////// + + /* + FastWire + - 0.24 added stop + - 0.23 added reset + + This is a library to help faster programs to read I2C devices. + Copyright(C) 2012 Francesco Ferrara + occhiobello at gmail dot com + [used by Jeff Rowberg for I2Cdevlib with permission] + */ + + boolean Fastwire::waitInt() { + int l = 250; + while (!(TWCR & (1 << TWINT)) && l-- > 0); + return l > 0; + } + + void Fastwire::setup(int khz, boolean pullup) { + TWCR = 0; + #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__) + // activate internal pull-ups for twi (PORTC bits 4 & 5) + // as per note from atmega8 manual pg167 + if (pullup) PORTC |= ((1 << 4) | (1 << 5)); + else PORTC &= ~((1 << 4) | (1 << 5)); + #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) + // activate internal pull-ups for twi (PORTC bits 0 & 1) + if (pullup) PORTC |= ((1 << 0) | (1 << 1)); + else PORTC &= ~((1 << 0) | (1 << 1)); + #else + // activate internal pull-ups for twi (PORTD bits 0 & 1) + // as per note from atmega128 manual pg204 + if (pullup) PORTD |= ((1 << 0) | (1 << 1)); + else PORTD &= ~((1 << 0) | (1 << 1)); + #endif + + TWSR = 0; // no prescaler => prescaler = 1 + TWBR = ((16000L / khz) - 16) / 2; // change the I2C clock rate + TWCR = 1 << TWEN; // enable twi module, no interrupt + } + + // added by Jeff Rowberg 2013-05-07: + // Arduino Wire-style "beginTransmission" function + // (takes 7-bit device address like the Wire method, NOT 8-bit: 0x68, not 0xD0/0xD1) + byte Fastwire::beginTransmission(byte device) { + byte twst, retry; + retry = 2; + do { + TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA); + if (!waitInt()) return 1; + twst = TWSR & 0xF8; + if (twst != TW_START && twst != TW_REP_START) return 2; + + //Serial.print(device, HEX); + //Serial.print(" "); + TWDR = device << 1; // send device address without read bit (1) + TWCR = (1 << TWINT) | (1 << TWEN); + if (!waitInt()) return 3; + twst = TWSR & 0xF8; + } while (twst == TW_MT_SLA_NACK && retry-- > 0); + if (twst != TW_MT_SLA_ACK) return 4; + return 0; + } + + byte Fastwire::writeBuf(byte device, byte address, byte *data, byte num) { + byte twst, retry; + + retry = 2; + do { + TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA); + if (!waitInt()) return 1; + twst = TWSR & 0xF8; + if (twst != TW_START && twst != TW_REP_START) return 2; + + //Serial.print(device, HEX); + //Serial.print(" "); + TWDR = device & 0xFE; // send device address without read bit (1) + TWCR = (1 << TWINT) | (1 << TWEN); + if (!waitInt()) return 3; + twst = TWSR & 0xF8; + } while (twst == TW_MT_SLA_NACK && retry-- > 0); + if (twst != TW_MT_SLA_ACK) return 4; + + //Serial.print(address, HEX); + //Serial.print(" "); + TWDR = address; // send data to the previously addressed device + TWCR = (1 << TWINT) | (1 << TWEN); + if (!waitInt()) return 5; + twst = TWSR & 0xF8; + if (twst != TW_MT_DATA_ACK) return 6; + + for (byte i = 0; i < num; i++) { + //Serial.print(data[i], HEX); + //Serial.print(" "); + TWDR = data[i]; // send data to the previously addressed device + TWCR = (1 << TWINT) | (1 << TWEN); + if (!waitInt()) return 7; + twst = TWSR & 0xF8; + if (twst != TW_MT_DATA_ACK) return 8; + } + //Serial.print("\n"); + + return 0; + } + + byte Fastwire::write(byte value) { + byte twst; + //Serial.println(value, HEX); + TWDR = value; // send data + TWCR = (1 << TWINT) | (1 << TWEN); + if (!waitInt()) return 1; + twst = TWSR & 0xF8; + if (twst != TW_MT_DATA_ACK) return 2; + return 0; + } + + byte Fastwire::readBuf(byte device, byte address, byte *data, byte num) { + byte twst, retry; + + retry = 2; + do { + TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA); + if (!waitInt()) return 16; + twst = TWSR & 0xF8; + if (twst != TW_START && twst != TW_REP_START) return 17; + + //Serial.print(device, HEX); + //Serial.print(" "); + TWDR = device & 0xfe; // send device address to write + TWCR = (1 << TWINT) | (1 << TWEN); + if (!waitInt()) return 18; + twst = TWSR & 0xF8; + } while (twst == TW_MT_SLA_NACK && retry-- > 0); + if (twst != TW_MT_SLA_ACK) return 19; + + //Serial.print(address, HEX); + //Serial.print(" "); + TWDR = address; // send data to the previously addressed device + TWCR = (1 << TWINT) | (1 << TWEN); + if (!waitInt()) return 20; + twst = TWSR & 0xF8; + if (twst != TW_MT_DATA_ACK) return 21; + + /***/ + + retry = 2; + do { + TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA); + if (!waitInt()) return 22; + twst = TWSR & 0xF8; + if (twst != TW_START && twst != TW_REP_START) return 23; + + //Serial.print(device, HEX); + //Serial.print(" "); + TWDR = device | 0x01; // send device address with the read bit (1) + TWCR = (1 << TWINT) | (1 << TWEN); + if (!waitInt()) return 24; + twst = TWSR & 0xF8; + } while (twst == TW_MR_SLA_NACK && retry-- > 0); + if (twst != TW_MR_SLA_ACK) return 25; + + for (uint8_t i = 0; i < num; i++) { + if (i == num - 1) + TWCR = (1 << TWINT) | (1 << TWEN); + else + TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA); + if (!waitInt()) return 26; + twst = TWSR & 0xF8; + if (twst != TW_MR_DATA_ACK && twst != TW_MR_DATA_NACK) return twst; + data[i] = TWDR; + //Serial.print(data[i], HEX); + //Serial.print(" "); + } + //Serial.print("\n"); + stop(); + + return 0; + } + + void Fastwire::reset() { + TWCR = 0; + } + + byte Fastwire::stop() { + TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO); + if (!waitInt()) return 1; + return 0; + } +#endif + +#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE + // NBWire implementation based heavily on code by Gene Knight + // Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html + // Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html + + /* + call this version 1.0 + + Offhand, the only funky part that I can think of is in nbrequestFrom, where the buffer + length and index are set *before* the data is actually read. The problem is that these + are variables local to the TwoWire object, and by the time we actually have read the + data, and know what the length actually is, we have no simple access to the object's + variables. The actual bytes read *is* given to the callback function, though. + + The ISR code for a slave receiver is commented out. I don't have that setup, and can't + verify it at this time. Save it for 2.0! + + The handling of the read and write processes here is much like in the demo sketch code: + the process is broken down into sequential functions, where each registers the next as a + callback, essentially. + + For example, for the Read process, twi_read00 just returns if TWI is not yet in a + ready state. When there's another interrupt, and the interface *is* ready, then it + sets up the read, starts it, and registers twi_read01 as the function to call after + the *next* interrupt. twi_read01, then, just returns if the interface is still in a + "reading" state. When the reading is done, it copies the information to the buffer, + cleans up, and calls the user-requested callback function with the actual number of + bytes read. + + The writing is similar. + + Questions, comments and problems can go to Gene@Telobot.com. + + Thumbs Up! + Gene Knight + + */ + + uint8_t TwoWire::rxBuffer[NBWIRE_BUFFER_LENGTH]; + uint8_t TwoWire::rxBufferIndex = 0; + uint8_t TwoWire::rxBufferLength = 0; + + uint8_t TwoWire::txAddress = 0; + uint8_t TwoWire::txBuffer[NBWIRE_BUFFER_LENGTH]; + uint8_t TwoWire::txBufferIndex = 0; + uint8_t TwoWire::txBufferLength = 0; + + //uint8_t TwoWire::transmitting = 0; + void (*TwoWire::user_onRequest)(void); + void (*TwoWire::user_onReceive)(int); + + static volatile uint8_t twi_transmitting; + static volatile uint8_t twi_state; + static uint8_t twi_slarw; + static volatile uint8_t twi_error; + static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH]; + static volatile uint8_t twi_masterBufferIndex; + static uint8_t twi_masterBufferLength; + static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH]; + static volatile uint8_t twi_rxBufferIndex; + //static volatile uint8_t twi_Interrupt_Continue_Command; + static volatile uint8_t twi_Return_Value; + static volatile uint8_t twi_Done; + void (*twi_cbendTransmissionDone)(int); + void (*twi_cbreadFromDone)(int); + + void twi_init() { + // initialize state + twi_state = TWI_READY; + + // activate internal pull-ups for twi + // as per note from atmega8 manual pg167 + sbi(PORTC, 4); + sbi(PORTC, 5); + + // initialize twi prescaler and bit rate + cbi(TWSR, TWPS0); // TWI Status Register - Prescaler bits + cbi(TWSR, TWPS1); + + /* twi bit rate formula from atmega128 manual pg 204 + SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR)) + note: TWBR should be 10 or higher for master mode + It is 72 for a 16mhz Wiring board with 100kHz TWI */ + + TWBR = ((CPU_FREQ / TWI_FREQ) - 16) / 2; // bitrate register + // enable twi module, acks, and twi interrupt + + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA); + + /* TWEN - TWI Enable Bit + TWIE - TWI Interrupt Enable + TWEA - TWI Enable Acknowledge Bit + TWINT - TWI Interrupt Flag + TWSTA - TWI Start Condition + */ + } + + typedef struct { + uint8_t address; + uint8_t* data; + uint8_t length; + uint8_t wait; + uint8_t i; + } twi_Write_Vars; + + twi_Write_Vars *ptwv = 0; + static void (*fNextInterruptFunction)(void) = 0; + + void twi_Finish(byte bRetVal) { + if (ptwv) { + free(ptwv); + ptwv = 0; + } + twi_Done = 0xFF; + twi_Return_Value = bRetVal; + fNextInterruptFunction = 0; + } + + uint8_t twii_WaitForDone(uint16_t timeout) { + uint32_t endMillis = millis() + timeout; + while (!twi_Done && (timeout == 0 || millis() < endMillis)) continue; + return twi_Return_Value; + } + + void twii_SetState(uint8_t ucState) { + twi_state = ucState; + } + + void twii_SetError(uint8_t ucError) { + twi_error = ucError ; + } + + void twii_InitBuffer(uint8_t ucPos, uint8_t ucLength) { + twi_masterBufferIndex = 0; + twi_masterBufferLength = ucLength; + } + + void twii_CopyToBuf(uint8_t* pData, uint8_t ucLength) { + uint8_t i; + for (i = 0; i < ucLength; ++i) { + twi_masterBuffer[i] = pData[i]; + } + } + + void twii_CopyFromBuf(uint8_t *pData, uint8_t ucLength) { + uint8_t i; + for (i = 0; i < ucLength; ++i) { + pData[i] = twi_masterBuffer[i]; + } + } + + void twii_SetSlaRW(uint8_t ucSlaRW) { + twi_slarw = ucSlaRW; + } + + void twii_SetStart() { + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); + } + + void twi_write01() { + if (TWI_MTX == twi_state) return; // blocking test + twi_transmitting = 0 ; + if (twi_error == 0xFF) + twi_Finish (0); // success + else if (twi_error == TW_MT_SLA_NACK) + twi_Finish (2); // error: address send, nack received + else if (twi_error == TW_MT_DATA_NACK) + twi_Finish (3); // error: data send, nack received + else + twi_Finish (4); // other twi error + if (twi_cbendTransmissionDone) return twi_cbendTransmissionDone(twi_Return_Value); + return; + } + + + void twi_write00() { + if (TWI_READY != twi_state) return; // blocking test + if (TWI_BUFFER_LENGTH < ptwv -> length) { + twi_Finish(1); // end write with error 1 + return; + } + twi_Done = 0x00; // show as working + twii_SetState(TWI_MTX); // to transmitting + twii_SetError(0xFF); // to No Error + twii_InitBuffer(0, ptwv -> length); // pointer and length + twii_CopyToBuf(ptwv -> data, ptwv -> length); // get the data + twii_SetSlaRW((ptwv -> address << 1) | TW_WRITE); // write command + twii_SetStart(); // start the cycle + fNextInterruptFunction = twi_write01; // next routine + return twi_write01(); + } + + void twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait) { + uint8_t i; + ptwv = (twi_Write_Vars *)malloc(sizeof(twi_Write_Vars)); + ptwv -> address = address; + ptwv -> data = data; + ptwv -> length = length; + ptwv -> wait = wait; + fNextInterruptFunction = twi_write00; + return twi_write00(); + } + + void twi_read01() { + if (TWI_MRX == twi_state) return; // blocking test + if (twi_masterBufferIndex < ptwv -> length) ptwv -> length = twi_masterBufferIndex; + twii_CopyFromBuf(ptwv -> data, ptwv -> length); + twi_Finish(ptwv -> length); + if (twi_cbreadFromDone) return twi_cbreadFromDone(twi_Return_Value); + return; + } + + void twi_read00() { + if (TWI_READY != twi_state) return; // blocking test + if (TWI_BUFFER_LENGTH < ptwv -> length) twi_Finish(0); // error return + twi_Done = 0x00; // show as working + twii_SetState(TWI_MRX); // reading + twii_SetError(0xFF); // reset error + twii_InitBuffer(0, ptwv -> length - 1); // init to one less than length + twii_SetSlaRW((ptwv -> address << 1) | TW_READ); // read command + twii_SetStart(); // start cycle + fNextInterruptFunction = twi_read01; + return twi_read01(); + } + + void twi_readFrom(uint8_t address, uint8_t* data, uint8_t length) { + uint8_t i; + + ptwv = (twi_Write_Vars *)malloc(sizeof(twi_Write_Vars)); + ptwv -> address = address; + ptwv -> data = data; + ptwv -> length = length; + fNextInterruptFunction = twi_read00; + return twi_read00(); + } + + void twi_reply(uint8_t ack) { + // transmit master read ready signal, with or without ack + if (ack){ + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA); + } else { + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT); + } + } + + void twi_stop(void) { + // send stop condition + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO); + + // wait for stop condition to be exectued on bus + // TWINT is not set after a stop condition! + while (TWCR & _BV(TWSTO)) { + continue; + } + + // update twi state + twi_state = TWI_READY; + } + + void twi_releaseBus(void) { + // release bus + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT); + + // update twi state + twi_state = TWI_READY; + } + + SIGNAL(TWI_vect) { + switch (TW_STATUS) { + // All Master + case TW_START: // sent start condition + case TW_REP_START: // sent repeated start condition + // copy device address and r/w bit to output register and ack + TWDR = twi_slarw; + twi_reply(1); + break; + + // Master Transmitter + case TW_MT_SLA_ACK: // slave receiver acked address + case TW_MT_DATA_ACK: // slave receiver acked data + // if there is data to send, send it, otherwise stop + if (twi_masterBufferIndex < twi_masterBufferLength) { + // copy data to output register and ack + TWDR = twi_masterBuffer[twi_masterBufferIndex++]; + twi_reply(1); + } else { + twi_stop(); + } + break; + + case TW_MT_SLA_NACK: // address sent, nack received + twi_error = TW_MT_SLA_NACK; + twi_stop(); + break; + + case TW_MT_DATA_NACK: // data sent, nack received + twi_error = TW_MT_DATA_NACK; + twi_stop(); + break; + + case TW_MT_ARB_LOST: // lost bus arbitration + twi_error = TW_MT_ARB_LOST; + twi_releaseBus(); + break; + + // Master Receiver + case TW_MR_DATA_ACK: // data received, ack sent + // put byte into buffer + twi_masterBuffer[twi_masterBufferIndex++] = TWDR; + + case TW_MR_SLA_ACK: // address sent, ack received + // ack if more bytes are expected, otherwise nack + if (twi_masterBufferIndex < twi_masterBufferLength) { + twi_reply(1); + } else { + twi_reply(0); + } + break; + + case TW_MR_DATA_NACK: // data received, nack sent + // put final byte into buffer + twi_masterBuffer[twi_masterBufferIndex++] = TWDR; + + case TW_MR_SLA_NACK: // address sent, nack received + twi_stop(); + break; + + // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case + + // Slave Receiver (NOT IMPLEMENTED YET) + /* + case TW_SR_SLA_ACK: // addressed, returned ack + case TW_SR_GCALL_ACK: // addressed generally, returned ack + case TW_SR_ARB_LOST_SLA_ACK: // lost arbitration, returned ack + case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack + // enter slave receiver mode + twi_state = TWI_SRX; + + // indicate that rx buffer can be overwritten and ack + twi_rxBufferIndex = 0; + twi_reply(1); + break; + + case TW_SR_DATA_ACK: // data received, returned ack + case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack + // if there is still room in the rx buffer + if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) { + // put byte in buffer and ack + twi_rxBuffer[twi_rxBufferIndex++] = TWDR; + twi_reply(1); + } else { + // otherwise nack + twi_reply(0); + } + break; + + case TW_SR_STOP: // stop or repeated start condition received + // put a null char after data if there's room + if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) { + twi_rxBuffer[twi_rxBufferIndex] = 0; + } + + // sends ack and stops interface for clock stretching + twi_stop(); + + // callback to user defined callback + twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex); + + // since we submit rx buffer to "wire" library, we can reset it + twi_rxBufferIndex = 0; + + // ack future responses and leave slave receiver state + twi_releaseBus(); + break; + + case TW_SR_DATA_NACK: // data received, returned nack + case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack + // nack back at master + twi_reply(0); + break; + + // Slave Transmitter + case TW_ST_SLA_ACK: // addressed, returned ack + case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack + // enter slave transmitter mode + twi_state = TWI_STX; + + // ready the tx buffer index for iteration + twi_txBufferIndex = 0; + + // set tx buffer length to be zero, to verify if user changes it + twi_txBufferLength = 0; + + // request for txBuffer to be filled and length to be set + // note: user must call twi_transmit(bytes, length) to do this + twi_onSlaveTransmit(); + + // if they didn't change buffer & length, initialize it + if (0 == twi_txBufferLength) { + twi_txBufferLength = 1; + twi_txBuffer[0] = 0x00; + } + + // transmit first byte from buffer, fall through + + case TW_ST_DATA_ACK: // byte sent, ack returned + // copy data to output register + TWDR = twi_txBuffer[twi_txBufferIndex++]; + + // if there is more to send, ack, otherwise nack + if (twi_txBufferIndex < twi_txBufferLength) { + twi_reply(1); + } else { + twi_reply(0); + } + break; + + case TW_ST_DATA_NACK: // received nack, we are done + case TW_ST_LAST_DATA: // received ack, but we are done already! + // ack future responses + twi_reply(1); + // leave slave receiver state + twi_state = TWI_READY; + break; + */ + + // all + case TW_NO_INFO: // no state information + break; + + case TW_BUS_ERROR: // bus error, illegal stop/start + twi_error = TW_BUS_ERROR; + twi_stop(); + break; + } + + if (fNextInterruptFunction) return fNextInterruptFunction(); + } + + TwoWire::TwoWire() { } + + void TwoWire::begin(void) { + rxBufferIndex = 0; + rxBufferLength = 0; + + txBufferIndex = 0; + txBufferLength = 0; + + twi_init(); + } + + void TwoWire::beginTransmission(uint8_t address) { + //beginTransmission((uint8_t)address); + + // indicate that we are transmitting + twi_transmitting = 1; + + // set address of targeted slave + txAddress = address; + + // reset tx buffer iterator vars + txBufferIndex = 0; + txBufferLength = 0; + } + + uint8_t TwoWire::endTransmission(uint16_t timeout) { + // transmit buffer (blocking) + //int8_t ret = + twi_cbendTransmissionDone = NULL; + twi_writeTo(txAddress, txBuffer, txBufferLength, 1); + int8_t ret = twii_WaitForDone(timeout); + + // reset tx buffer iterator vars + txBufferIndex = 0; + txBufferLength = 0; + + // indicate that we are done transmitting + // twi_transmitting = 0; + return ret; + } + + void TwoWire::nbendTransmission(void (*function)(int)) { + twi_cbendTransmissionDone = function; + twi_writeTo(txAddress, txBuffer, txBufferLength, 1); + return; + } + + void TwoWire::send(uint8_t data) { + if (twi_transmitting) { + // in master transmitter mode + // don't bother if buffer is full + if (txBufferLength >= NBWIRE_BUFFER_LENGTH) { + return; + } + + // put byte in tx buffer + txBuffer[txBufferIndex] = data; + ++txBufferIndex; + + // update amount in buffer + txBufferLength = txBufferIndex; + } else { + // in slave send mode + // reply to master + //twi_transmit(&data, 1); + } + } + + uint8_t TwoWire::receive(void) { + // default to returning null char + // for people using with char strings + uint8_t value = 0; + + // get each successive byte on each call + if (rxBufferIndex < rxBufferLength) { + value = rxBuffer[rxBufferIndex]; + ++rxBufferIndex; + } + + return value; + } + + uint8_t TwoWire::requestFrom(uint8_t address, int quantity, uint16_t timeout) { + // clamp to buffer length + if (quantity > NBWIRE_BUFFER_LENGTH) { + quantity = NBWIRE_BUFFER_LENGTH; + } + + // perform blocking read into buffer + twi_cbreadFromDone = NULL; + twi_readFrom(address, rxBuffer, quantity); + uint8_t read = twii_WaitForDone(timeout); + + // set rx buffer iterator vars + rxBufferIndex = 0; + rxBufferLength = read; + + return read; + } + + void TwoWire::nbrequestFrom(uint8_t address, int quantity, void (*function)(int)) { + // clamp to buffer length + if (quantity > NBWIRE_BUFFER_LENGTH) { + quantity = NBWIRE_BUFFER_LENGTH; + } + + // perform blocking read into buffer + twi_cbreadFromDone = function; + twi_readFrom(address, rxBuffer, quantity); + //uint8_t read = twii_WaitForDone(); + + // set rx buffer iterator vars + //rxBufferIndex = 0; + //rxBufferLength = read; + + rxBufferIndex = 0; + rxBufferLength = quantity; // this is a hack + + return; //read; + } + + uint8_t TwoWire::available(void) { + return rxBufferLength - rxBufferIndex; + } + +#endif diff --git a/src/I2Cdev.h b/src/I2Cdev.h new file mode 100644 index 0000000..60c3195 --- /dev/null +++ b/src/I2Cdev.h @@ -0,0 +1,289 @@ +// I2Cdev library collection - Main I2C device class header file +// Abstracts bit and byte I2C R/W functions into a convenient class +// 2013-06-05 by Jeff Rowberg +// +// Changelog: +// 2020-01-20 - hardija : complete support for Teensy 3.x +// 2015-10-30 - simondlevy : support i2c_t3 for Teensy3.1 +// 2013-05-06 - add Francesco Ferrara's Fastwire v0.24 implementation with small modifications +// 2013-05-05 - fix issue with writing bit values to words (Sasquatch/Farzanegan) +// 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire +// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation +// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums) +// 2011-10-03 - added automatic Arduino version detection for ease of use +// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications +// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x) +// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default +// 2011-08-02 - added support for 16-bit registers +// - fixed incorrect Doxygen comments on some methods +// - added timeout value for read operations (thanks mem @ Arduino forums) +// 2011-07-30 - changed read/write function structures to return success or byte counts +// - made all methods static for multi-device memory savings +// 2011-07-28 - initial release + +/* ============================================ +I2Cdev device library code is placed under the MIT license +Copyright (c) 2013 Jeff Rowberg + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. +=============================================== +*/ + +#ifndef _I2CDEV_H_ +#define _I2CDEV_H_ + +// ----------------------------------------------------------------------------- +// I2C interface implementation setting +// ----------------------------------------------------------------------------- +#ifndef I2CDEV_IMPLEMENTATION +#define I2CDEV_IMPLEMENTATION I2CDEV_ARDUINO_WIRE +//#define I2CDEV_IMPLEMENTATION I2CDEV_TEENSY_3X_WIRE +//#define I2CDEV_IMPLEMENTATION I2CDEV_BUILTIN_SBWIRE +//#define I2CDEV_IMPLEMENTATION I2CDEV_BUILTIN_FASTWIRE +#endif // I2CDEV_IMPLEMENTATION + +// comment this out if you are using a non-optimal IDE/implementation setting +// but want the compiler to shut up about it +#define I2CDEV_IMPLEMENTATION_WARNINGS + +// ----------------------------------------------------------------------------- +// I2C interface implementation options +// ----------------------------------------------------------------------------- +#define I2CDEV_ARDUINO_WIRE 1 // Wire object from Arduino +#define I2CDEV_BUILTIN_NBWIRE 2 // Tweaked Wire object from Gene Knight's NBWire project + // ^^^ NBWire implementation is still buggy w/some interrupts! +#define I2CDEV_BUILTIN_FASTWIRE 3 // FastWire object from Francesco Ferrara's project +#define I2CDEV_I2CMASTER_LIBRARY 4 // I2C object from DSSCircuits I2C-Master Library at https://github.com/DSSCircuits/I2C-Master-Library +#define I2CDEV_BUILTIN_SBWIRE 5 // I2C object from Shuning (Steve) Bian's SBWire Library at https://github.com/freespace/SBWire +#define I2CDEV_TEENSY_3X_WIRE 6 // Teensy 3.x support using i2c_t3 library + +// ----------------------------------------------------------------------------- +// Arduino-style "Serial.print" debug constant (uncomment to enable) +// ----------------------------------------------------------------------------- +//#define I2CDEV_SERIAL_DEBUG + +#ifdef ARDUINO + #if ARDUINO < 100 + #include "WProgram.h" + #else + #include "Arduino.h" + #endif + #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE + #include + #endif + #if I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE + #include + #endif + #if I2CDEV_IMPLEMENTATION == I2CDEV_I2CMASTER_LIBRARY + #include + #endif + #if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE + #include "SBWire.h" + #endif +#endif + +#ifdef SPARK + #include + #define ARDUINO 101 +#endif + + +// 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];") +#define I2CDEV_DEFAULT_READ_TIMEOUT 1000 + +class I2Cdev { + public: + I2Cdev(); + + static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout); + static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout); + static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout); + static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout); + static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout); + static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout); + static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout); + static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout); + + static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data); + static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data); + static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data); + static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data); + static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data); + static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data); + static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data); + static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data); + + static uint16_t readTimeout; +}; + +#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE + ////////////////////// + // FastWire 0.24 + // This is a library to help faster programs to read I2C devices. + // Copyright(C) 2012 + // Francesco Ferrara + ////////////////////// + + /* Master */ + #define TW_START 0x08 + #define TW_REP_START 0x10 + + /* Master Transmitter */ + #define TW_MT_SLA_ACK 0x18 + #define TW_MT_SLA_NACK 0x20 + #define TW_MT_DATA_ACK 0x28 + #define TW_MT_DATA_NACK 0x30 + #define TW_MT_ARB_LOST 0x38 + + /* Master Receiver */ + #define TW_MR_ARB_LOST 0x38 + #define TW_MR_SLA_ACK 0x40 + #define TW_MR_SLA_NACK 0x48 + #define TW_MR_DATA_ACK 0x50 + #define TW_MR_DATA_NACK 0x58 + + #define TW_OK 0 + #define TW_ERROR 1 + + class Fastwire { + private: + static boolean waitInt(); + + public: + static void setup(int khz, boolean pullup); + static byte beginTransmission(byte device); + static byte write(byte value); + static byte writeBuf(byte device, byte address, byte *data, byte num); + static byte readBuf(byte device, byte address, byte *data, byte num); + static void reset(); + static byte stop(); + }; +#endif + +#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE + // NBWire implementation based heavily on code by Gene Knight + // Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html + // Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html + + #define NBWIRE_BUFFER_LENGTH 32 + + class TwoWire { + private: + static uint8_t rxBuffer[]; + static uint8_t rxBufferIndex; + static uint8_t rxBufferLength; + + static uint8_t txAddress; + static uint8_t txBuffer[]; + static uint8_t txBufferIndex; + static uint8_t txBufferLength; + + // static uint8_t transmitting; + static void (*user_onRequest)(void); + static void (*user_onReceive)(int); + static void onRequestService(void); + static void onReceiveService(uint8_t*, int); + + public: + TwoWire(); + void begin(); + void begin(uint8_t); + void begin(int); + void beginTransmission(uint8_t); + //void beginTransmission(int); + uint8_t endTransmission(uint16_t timeout=0); + void nbendTransmission(void (*function)(int)) ; + uint8_t requestFrom(uint8_t, int, uint16_t timeout=0); + //uint8_t requestFrom(int, int); + void nbrequestFrom(uint8_t, int, void (*function)(int)); + void send(uint8_t); + void send(uint8_t*, uint8_t); + //void send(int); + void send(char*); + uint8_t available(void); + uint8_t receive(void); + void onReceive(void (*)(int)); + void onRequest(void (*)(void)); + }; + + #define TWI_READY 0 + #define TWI_MRX 1 + #define TWI_MTX 2 + #define TWI_SRX 3 + #define TWI_STX 4 + + #define TW_WRITE 0 + #define TW_READ 1 + + #define TW_MT_SLA_NACK 0x20 + #define TW_MT_DATA_NACK 0x30 + + #define CPU_FREQ 16000000L + #define TWI_FREQ 100000L + #define TWI_BUFFER_LENGTH 32 + + /* TWI Status is in TWSR, in the top 5 bits: TWS7 - TWS3 */ + + #define TW_STATUS_MASK (_BV(TWS7)|_BV(TWS6)|_BV(TWS5)|_BV(TWS4)|_BV(TWS3)) + #define TW_STATUS (TWSR & TW_STATUS_MASK) + #define TW_START 0x08 + #define TW_REP_START 0x10 + #define TW_MT_SLA_ACK 0x18 + #define TW_MT_SLA_NACK 0x20 + #define TW_MT_DATA_ACK 0x28 + #define TW_MT_DATA_NACK 0x30 + #define TW_MT_ARB_LOST 0x38 + #define TW_MR_ARB_LOST 0x38 + #define TW_MR_SLA_ACK 0x40 + #define TW_MR_SLA_NACK 0x48 + #define TW_MR_DATA_ACK 0x50 + #define TW_MR_DATA_NACK 0x58 + #define TW_ST_SLA_ACK 0xA8 + #define TW_ST_ARB_LOST_SLA_ACK 0xB0 + #define TW_ST_DATA_ACK 0xB8 + #define TW_ST_DATA_NACK 0xC0 + #define TW_ST_LAST_DATA 0xC8 + #define TW_SR_SLA_ACK 0x60 + #define TW_SR_ARB_LOST_SLA_ACK 0x68 + #define TW_SR_GCALL_ACK 0x70 + #define TW_SR_ARB_LOST_GCALL_ACK 0x78 + #define TW_SR_DATA_ACK 0x80 + #define TW_SR_DATA_NACK 0x88 + #define TW_SR_GCALL_DATA_ACK 0x90 + #define TW_SR_GCALL_DATA_NACK 0x98 + #define TW_SR_STOP 0xA0 + #define TW_NO_INFO 0xF8 + #define TW_BUS_ERROR 0x00 + + //#define _MMIO_BYTE(mem_addr) (*(volatile uint8_t *)(mem_addr)) + //#define _SFR_BYTE(sfr) _MMIO_BYTE(_SFR_ADDR(sfr)) + + #ifndef sbi // set bit + #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) + #endif // sbi + + #ifndef cbi // clear bit + #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) + #endif // cbi + + extern TwoWire Wire; + +#endif // I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE + +#endif /* _I2CDEV_H_ */ diff --git a/src/MPU6050.cpp b/src/MPU6050.cpp new file mode 100644 index 0000000..f8c127d --- /dev/null +++ b/src/MPU6050.cpp @@ -0,0 +1,3371 @@ +// 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/src/MPU6050.h b/src/MPU6050.h new file mode 100644 index 0000000..4be352d --- /dev/null +++ b/src/MPU6050.h @@ -0,0 +1,1041 @@ +// 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/src/main.ino b/src/main.ino new file mode 100644 index 0000000..7a0ce12 --- /dev/null +++ b/src/main.ino @@ -0,0 +1,278 @@ +#include // C STD Int library, might not be needed +// #include // another of version of Eigen313.h +#include // linear algebra library +#include "I2Cdev.h" +#include // needed for Eigen313.h to work +#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 + + +using namespace Eigen; + +// declare flash chip +#define CHIPSIZE MB64 +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. + */ +void calibrate_imu_linear_acceleration(int16_t *imu_acc_bias[3]) +{ + int num_loops = 2500; // number of cycles to check measurements for bias + long a_sums[3] = {0, 0, 0}; // sum of 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++) + { + imu.getMotion6(&ax, &az, &ay, &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; + + // TODO: do we need to zero the values of ax, ay, and az every loop? + // TODO: why aren't we also calculating an agular velocity bias? + } + + // find average bias + a_sums[0] /= num_loops; + a_sums[1] /= num_loops; + a_sums[2] /= num_loops; + + // store biases for later use + *imu_acc_bias[0] = a_sums[0]; + *imu_acc_bias[1] = a_sums[1]; // TODO: why does AGON1a have a_sums[1] - imuRange/2? + *imu_acc_bias[2] = a_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_ACC_BIAS[0])*LSB_LINEAR*1000*G_2_MS2; // (m/s^2) x-axis acceleration + *a[1] = (ay - IMU_ACC_BIAS[1])*LSB_LINEAR*1000*G_2_MS2; // (m/s^2) y-axis acceleration + *a[2] = (az - IMU_ACC_BIAS[2])*LSB_LINEAR*1000*G_2_MS2; // (m/s^2) z-axis acceleration + *w[0] = wx*LSB_ANGULAR*DEG_2_RAD; // (rad/s) x-axis angular velocity + *w[1] = wy*LSB_ANGULAR*DEG_2_RAD; // (rad/s) y-axis angular velocity + *w[2] = wz*LSB_ANGULAR*DEG_2_RAD; // (rad/s) z-axis angular velocity + + if (debug) { + print_measurements(a, w); + } +} + + +/* 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); +} + + +/* setup + * + * This is called once to initialize everything. + */ +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); + + // 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 + Wire.begin(); + #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE + Fastwire::setup(400, true); + #endif + + 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; + + // 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_ACC_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.Ka << 0.34641, 1.72254, 0.32694, 0, 0, 0, 0, 0, 0, 0.34641, -1.88376, -0.3991; //LQR gains + ws.uLast[0] = 0; //last commanded tvc x input + ws.uLast[1] = 0; //last commanded tvc y input + + ws.calibrate_time = micros(); +} + + +/* loop + * + * This runs, well, on a loop every processing cycle. It'll just keep + * going until it reaches an internal terminating condition or the + * board stops receiving power. + */ +void loop() +{ + // update the clock + ws.dt = micros() - ws.t_prev_cycle; // (us) time step since previous loop + ws.t_prev_cycle += ws.dt; // (us) update time for next loop + + // check for moding change conditions + switch (ws.mode) + { + case (STARTUP_STABLE): + { + if (change_mode_to_navigation(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)) + { + transition_to_burn_baby_burn(); + ws.mode = BURN_BABY_BURN; + } + else + { + // TODO: implement this block + } + break; + } + case (BURN_BABY_BURN): + { + if (change_mode_to_shutdown_stable(mode, false)) + { + transition_to_shutdown_stable(); + ws.mode = SHUTDOWN_STABLE; + } + else + { + // TODO: implement this block + } + break; + } + case (SHUTDOWN_STABLE): + { + // TODO: implement this block + break; + } + } + // TODO: formalize control loop + //construct x + //construct y + ws.u=-ws.K*ws.x; //calculate tvc input + ws.x+=ws.dt*(ws.A*ws.x+ws.B*ws.u+ws.L*(ws.y-ws.C*ws.x)) //calculate next state estimate + //send u to tvc + + + // TODO: add blink + // TODO: add data record + // TODO: add (somewhere else) data struct +} \ No newline at end of file diff --git a/src/mission_constants.hh b/src/mission_constants.hh new file mode 100644 index 0000000..f8c86c5 --- /dev/null +++ b/src/mission_constants.hh @@ -0,0 +1,110 @@ +#ifndef __MISSION_CONSTANTS_HH__ +#define __MISSION_CONSTANTS_HH__ + +#include + + +//***************************************************************************** +// CONVERSION FACTORS +//***************************************************************************** +const float DEG_2_RAD = 0.017453292519943295; // (rad/deg) conversion factor from degrees to radians +const float RAD_2_DEG = 57.29577951308232; // (deg/rad) conversion factor from radians to degrees +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 + +//***************************************************************************** +// 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 +}; + +// 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? + +//***************************************************************************** +// HARDWARE +//***************************************************************************** +/* LSB value for linear acceleration measurements. + * See MPU6050::getAcceleration docstring for options. + * Current setting is a full-scale range of +/- 8 gee, + * in main::setup, in call to setFullScaleAccelRange. + */ +const float LSB_LINEAR = 2048.0; // (milli-gee/count) note documentation gives incorrectly inverted units + +/* LSB value for angular velocity measurements. + * See MPU6050::getRotation docstring for options. + * Current setting is a full-scale range of +/-m 250 deg/s, + * in main::setup, in call to setFullScaleGyroRange. + */ +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 measurements. Can't be declared + * a const since it's calculated on the fly every startup. + */ +int16_t IMU_ACC_BIAS[3]; // (count) IMU linear acceleration along each axis + +// LEDs +//TODO:modify values +const int B_LED_1 = 6; // Blue LED1 Pin +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 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 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 + +// 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 + + +#endif // __MISSION_CONSTANTS_HH__ \ No newline at end of file diff --git a/src/moding.cpp b/src/moding.cpp new file mode 100644 index 0000000..ddb65f2 --- /dev/null +++ b/src/moding.cpp @@ -0,0 +1,91 @@ +#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 ret = false; + if (current_mode == STARTUP_STABLE && cond) + { + ret = true; + } + return ret; +} + + +/* change_mode_to_burn_baby_burn + * + * Determines whether to change the mode to BURN_BABY_BURN. + * + * Conditions: + * - current mode is NAVIGATION + * - TODO: determine any remaining conditions + */ +bool change_mode_to_burn_baby_burn(Mode current_mode, bool cond) +{ + bool ret = false; + if (current_mode == NAVIGATION && cond) + { + ret = true; + } + return ret; +} + + +/* change_mode_to_shutdown_stable + * + * Determines whether to change the mode to SHUTDOWN_STABLE. + * + * Conditions: + * - current mode is BURN_BABY_BURN + * - TODO: determine any remaining conditions + */ +bool change_mode_to_shutdown_stable(Mode current_mode, bool cond) +{ + bool ret = false; + if (current_mode == BURN_BABY_BURN && cond) + { + ret = true; + } + return ret; +} + + +/* transition_to_navigation + * + * Handles anything that needs to happen only once when + * changing modes from STARTUP_STABLE to NAVIGATION. + */ +void transition_to_navigation() +{ +} + + +/* transition_to_burn_baby_burn + * + * Handles anything that needs to happen only once when + * changing modes from NAVIGATION to BURN_BABY_BURN. + */ +void transition_to_burn_baby_burn() +{ + // TODO: engine ignition occurs here +} + + +/* transition_to_shutdown_stable + * + * Handles anything that needs to happen only once when + * changing modes from BURN_BABY_BURN to SHUTDOWN_STABLE. + */ +void transition_to_shutdown_stable() +{ + // TODO: engine shutdown and safing occurs here +} \ No newline at end of file diff --git a/src/moding.hh b/src/moding.hh new file mode 100644 index 0000000..22ecc76 --- /dev/null +++ b/src/moding.hh @@ -0,0 +1,16 @@ +#ifndef __MODING_HH__ +#define __MODING_HH__ + +#include +#include + + +bool change_mode_to_navigation(bool); +bool change_mode_to_burn_baby_burn(bool); +bool change_mode_to_shutdown_stable(bool); + +void transition_to_navigation(); +void transition_to_burn_baby_burn(); +void transition_to_shutdown_stable(); + +#endif // __MODING_HH__ \ No newline at end of file diff --git a/src/workspace.hh b/src/workspace.hh new file mode 100644 index 0000000..594796e --- /dev/null +++ b/src/workspace.hh @@ -0,0 +1,67 @@ +#ifndef __WORKSPACE_HH__ +#define __WORKSPACE_HH__ + +#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 + + +class Workspace +{ + public: + //***************************************************************************** + // HARDWARE SETUP + //***************************************************************************** + MPU6050 imu_0(0x68); // (--) first IMU to read data from + MPU6050 imu_1(0x69); // (--) second IMU to read data from + + //***************************************************************************** + // 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 + unsigned long dt = 0; // (us) used to store time difference between t_prev_cycle and return of micros() at the start of each loop + + // sensor measurements + float a_0[3] = {0.0, 0.0, 0.0}; // (m/s^2) linear acceleration, used for storing sensor measurements + float a_1[3] = {0.0, 0.0, 0.0}; // (m/s^2) linear acceleration, used for storing sensor measurements + float w_0[3] = {0.0, 0.0, 0.0}; // (rad/s) angular velocity, used for storing sensor measurements + float w_1[3] = {0.0, 0.0, 0.0}; // (rad/s) angular velocity, used for storing sensor measurements + + // flight mode + 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 + + // controller parameters + // TODO: define parameters, move to mission constants + MatrixXf K(2,6); //LQR -> updates mid flight + 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 + MatrixXf A(36); //dynamics matrix + MatrixXf B(12); //input matrix + MatrixXf C(24); //Sensor matrix + MatrixXf L(24); //Kalman gain + float maxU = 5*3.14159/180; //maximum gimbal angle + long uLast[2] = {0, 0}; //commanded servo angle + + // state + float r_body[3] = {0.0, 0.0, 0.0}; // (m) position of the body frame origin TODO: define inertial frame + float v_body_wrt_inertial_in_inertial[3] = {0.0, 0.0, 0.0}; // (m/s) velocity of body frame origin wrt inertial frame, components resolved in inertial frame + float qr_body_wrt_inrt[4] = {1.0, 0.0, 0.0, 0.0}; // (--) right, scalar-first, Hamiltonian quaternion transforming body frame into inertial frame + float qr_inrt_wrt_body[4] = {1.0, 0.0, 0.0, 0.0}; // (--) right, scalar-first, Hamiltonian quaternion transforming inertial frame into body frame +}; + +#endif // __WORKSPACE_HH__ \ No newline at end of file