File MpuController.hpp

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• #include "I2cController.hpp"
• #include "rbcx.pb.h"
• #include <stdbool.h>

Classes

Public Types

Public Functions

Macros

Public Types Documentation

typedef mpu_t

typedef struct mpu_t mpu_t;

Public Functions Documentation

function getExternalSensorDWord

uint32_t getExternalSensorDWord (
    int position
) 

function getXFineGain

int8_t getXFineGain () 

function getXGyroOffsetTC

int8_t getXGyroOffsetTC () 

function getYFineGain

int8_t getYFineGain () 

function getYGyroOffsetTC

int8_t getYGyroOffsetTC () 

function getZFineGain

int8_t getZFineGain () 

function getZGyroOffsetTC

int8_t getZGyroOffsetTC () 

function mpuCreate

void mpuCreate () 

function mpuDispatch

void mpuDispatch (
    const CoprocReq_MpuReq & request
) 

function mpuInitialize

void mpuInitialize () 

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.

function mpuReset

void mpuReset () 

function mpuTick

void mpuTick () 

function mpu_getAccelFIFOEnabled

bool mpu_getAccelFIFOEnabled () 

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 mpu6050.buffer.

Returns:

Current accelerometer FIFO enabled value

See also: mpu_RA_FIFO_EN

function mpu_getAccelXSelfTest

bool mpu_getAccelXSelfTest () 

Get self-test enabled setting for accelerometer X axis.

Returns:

Self-test enabled value

See also: mpu_RA_ACCEL_CONFIG

function mpu_getAccelYSelfTest

bool mpu_getAccelYSelfTest () 

Get self-test enabled value for accelerometer Y axis.

Returns:

Self-test enabled value

See also: mpu_RA_ACCEL_CONFIG

function mpu_getAccelZSelfTest

bool mpu_getAccelZSelfTest () 

Get self-test enabled value for accelerometer Z axis.

Returns:

Self-test enabled value

See also: mpu_RA_ACCEL_CONFIG

function mpu_getAcceleration

void mpu_getAcceleration (
    int16_t * x,
    int16_t * y,
    int16_t * z
) 

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:

Parameters:

• x 16-bit signed integer container for X-axis acceleration
• y 16-bit signed integer container for Y-axis acceleration
• z 16-bit signed integer container for Z-axis acceleration

See also: mpu_RA_GYRO_XOUT_H

function mpu_getAccelerationX

int16_t mpu_getAccelerationX () 

Get X-axis accelerometer reading.

Returns:

X-axis acceleration measurement in 16-bit 2's complement format

See also: getMotion6()

See also: mpu_RA_ACCEL_XOUT_H

function mpu_getAccelerationY

int16_t mpu_getAccelerationY () 

Get Y-axis accelerometer reading.

Returns:

Y-axis acceleration measurement in 16-bit 2's complement format

See also: getMotion6()

See also: mpu_RA_ACCEL_YOUT_H

function mpu_getAccelerationZ

int16_t mpu_getAccelerationZ () 

Get Z-axis accelerometer reading.

Returns:

Z-axis acceleration measurement in 16-bit 2's complement format

See also: getMotion6()

See also: mpu_RA_ACCEL_ZOUT_H

function mpu_getAccelerometerPowerOnDelay

uint8_t mpu_getAccelerometerPowerOnDelay () 

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.

Returns:

Current accelerometer power-on delay

See also: mpu_RA_MOT_DETECT_CTRL

See also: mpu_DETECT_ACCEL_ON_DELAY_BIT

function mpu_getAuxVDDIOLevel

uint8_t mpu_getAuxVDDIOLevel () 

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.

Returns:

I2C supply voltage level (0=VLOGIC, 1=VDD)

function mpu_getClockOutputEnabled

bool mpu_getClockOutputEnabled () 

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.

Returns:

Current reference clock output enabled status

See also: mpu_RA_INT_PIN_CFG

See also: mpu_INTCFG_CLKOUT_EN_BIT

function mpu_getClockSource

uint8_t mpu_getClockSource () 

Get clock source setting.

Returns:

Current clock source setting

See also: mpu_RA_PWR_MGMT_1

See also: mpu_PWR1_CLKSEL_BIT

See also: mpu_PWR1_CLKSEL_LENGTH

function mpu_getDHPFMode

uint8_t mpu_getDHPFMode () 

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:

Returns:

Current high-pass filter configuration

See also: mpu_DHPF_RESET

See also: mpu_RA_ACCEL_CONFIG

function mpu_getDLPFMode

uint8_t mpu_getDLPFMode () 

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.

Returns:

DLFP configuration

See also: mpu_RA_CONFIG

See also: mpu_CFG_DLPF_CFG_BIT

See also: mpu_CFG_DLPF_CFG_LENGTH

function mpu_getDMPConfig1

uint8_t mpu_getDMPConfig1 () 

function mpu_getDMPConfig2

uint8_t mpu_getDMPConfig2 () 

function mpu_getDMPEnabled

bool mpu_getDMPEnabled () 

function mpu_getDMPInt0Status

bool mpu_getDMPInt0Status () 

function mpu_getDMPInt1Status

bool mpu_getDMPInt1Status () 

function mpu_getDMPInt2Status

bool mpu_getDMPInt2Status () 

function mpu_getDMPInt3Status

bool mpu_getDMPInt3Status () 

function mpu_getDMPInt4Status

bool mpu_getDMPInt4Status () 

function mpu_getDMPInt5Status

bool mpu_getDMPInt5Status () 

function mpu_getDeviceID

uint8_t mpu_getDeviceID () 

function mpu_getExternalFrameSync

uint8_t mpu_getExternalFrameSync () 

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.

Returns:

FSYNC configuration value

function mpu_getExternalSensorByte

uint8_t mpu_getExternalSensorByte (
    int position
) 

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.

Parameters:

• position Starting position (0-23)

Returns:

Byte read from register

function mpu_getExternalSensorWord

uint16_t mpu_getExternalSensorWord (
    int position
) 

Read word (2 bytes) from external sensor data registers.

Parameters:

• position Starting position (0-21)

Returns:

Word read from register

See also: getExternalSensorByte()

function mpu_getExternalShadowDelayEnabled

bool mpu_getExternalShadowDelayEnabled () 

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.

Returns:

Current external data shadow delay enabled status.

See also: mpu_RA_I2C_MST_DELAY_CTRL

See also: mpu_DELAYCTRL_DELAY_ES_SHADOW_BIT

function mpu_getFIFOByte

uint8_t mpu_getFIFOByte () 

function mpu_getFIFOBytes

void mpu_getFIFOBytes (
    uint8_t * data,
    uint8_t length
) 

function mpu_getFIFOCount

uint16_t mpu_getFIFOCount () 

function mpu_getFIFOEnabled

bool mpu_getFIFOEnabled () 

Get FIFO enabled status. When this bit is set to 0, the FIFO mpu6050.buffer is disabled. The FIFO mpu6050.buffer cannot be written to or read from while disabled. The FIFO mpu6050.buffer's state does not change unless the MPU-60X0 is power cycled.

Returns:

Current FIFO enabled status

See also: mpu_RA_USER_CTRL

See also: mpu_USERCTRL_FIFO_EN_BIT

function mpu_getFSyncInterruptEnabled

bool mpu_getFSyncInterruptEnabled () 

Get FSYNC pin interrupt enabled setting. Will be set 0 for disabled, 1 for enabled.

Returns:

Current interrupt enabled setting

See also: mpu_RA_INT_PIN_CFG

See also: mpu_INTCFG_FSYNC_INT_EN_BIT

function mpu_getFSyncInterruptLevel

bool mpu_getFSyncInterruptLevel () 

Get FSYNC interrupt logic level mode.

Returns:

Current FSYNC interrupt mode (0=active-high, 1=active-low)

See also: getFSyncInterruptMode()

See also: mpu_RA_INT_PIN_CFG

See also: mpu_INTCFG_FSYNC_INT_LEVEL_BIT

function mpu_getFreefallDetectionCounterDecrement

uint8_t mpu_getFreefallDetectionCounterDecrement () 

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:

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.

Returns:

Current decrement configuration

See also: mpu_RA_MOT_DETECT_CTRL

See also: mpu_DETECT_FF_COUNT_BIT

function mpu_getFreefallDetectionDuration

uint8_t mpu_getFreefallDetectionDuration () 

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.

Returns:

Current free-fall duration threshold value (LSB = 1ms)

See also: mpu_RA_FF_DUR

function mpu_getFreefallDetectionThreshold

uint8_t mpu_getFreefallDetectionThreshold () 

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.

Returns:

Current free-fall acceleration threshold value (LSB = 2mg)

See also: mpu_RA_FF_THR

function mpu_getFullScaleAccelRange

uint8_t mpu_getFullScaleAccelRange () 

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.

Returns:

Current full-scale accelerometer range setting

See also: mpu_ACCEL_FS_2

See also: mpu_RA_ACCEL_CONFIG

See also: mpu_ACONFIG_AFS_SEL_BIT

See also: mpu_ACONFIG_AFS_SEL_LENGTH

function mpu_getFullScaleGyroRange

uint8_t mpu_getFullScaleGyroRange () 

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.

Returns:

Current full-scale gyroscope range setting

See also: mpu_GYRO_FS_250

See also: mpu_RA_GYRO_CONFIG

See also: mpu_GCONFIG_FS_SEL_BIT

See also: mpu_GCONFIG_FS_SEL_LENGTH

function mpu_getI2CBypassEnabled

bool mpu_getI2CBypassEnabled () 

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]).

Returns:

Current I2C bypass enabled status

See also: mpu_RA_INT_PIN_CFG

See also: mpu_INTCFG_I2C_BYPASS_EN_BIT

function mpu_getI2CMasterModeEnabled

bool mpu_getI2CMasterModeEnabled () 

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.

Returns:

Current I2C Master Mode enabled status

See also: mpu_RA_USER_CTRL

See also: mpu_USERCTRL_I2C_MST_EN_BIT

function mpu_getIntDMPEnabled

bool mpu_getIntDMPEnabled () 

function mpu_getIntDMPStatus

bool mpu_getIntDMPStatus () 

function mpu_getIntDataReadyEnabled

bool mpu_getIntDataReadyEnabled () 

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.

Returns:

Current interrupt enabled status

See also: mpu_RA_INT_ENABLE

See also: mpu_INTERRUPT_DATA_RDY_BIT

function mpu_getIntDataReadyStatus

bool mpu_getIntDataReadyStatus () 

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.

Returns:

Current interrupt status

See also: mpu_RA_INT_STATUS

See also: mpu_INTERRUPT_DATA_RDY_BIT

function mpu_getIntEnabled

uint8_t mpu_getIntEnabled () 

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.

Returns:

Current interrupt enabled status

See also: mpu_RA_INT_ENABLE

See also: mpu_INTERRUPT_FF_BIT

function mpu_getIntFIFOBufferOverflowEnabled

bool mpu_getIntFIFOBufferOverflowEnabled () 

Get FIFO Buffer Overflow interrupt enabled status. Will be set 0 for disabled, 1 for enabled.

Returns:

Current interrupt enabled status

See also: mpu_RA_INT_ENABLE

See also: mpu_INTERRUPT_FIFO_OFLOW_BIT

function mpu_getIntFIFOBufferOverflowStatus

bool mpu_getIntFIFOBufferOverflowStatus () 

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.

Returns:

Current interrupt status

See also: mpu_RA_INT_STATUS

See also: mpu_INTERRUPT_FIFO_OFLOW_BIT

function mpu_getIntFreefallEnabled

bool mpu_getIntFreefallEnabled () 

Get Free Fall interrupt enabled status. Will be set 0 for disabled, 1 for enabled.

Returns:

Current interrupt enabled status

See also: mpu_RA_INT_ENABLE

See also: mpu_INTERRUPT_FF_BIT

function mpu_getIntFreefallStatus

bool mpu_getIntFreefallStatus () 

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.

Returns:

Current interrupt status

See also: mpu_RA_INT_STATUS

See also: mpu_INTERRUPT_FF_BIT

function mpu_getIntI2CMasterEnabled

bool mpu_getIntI2CMasterEnabled () 

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.

Returns:

Current interrupt enabled status

See also: mpu_RA_INT_ENABLE

See also: mpu_INTERRUPT_I2C_MST_INT_BIT

function mpu_getIntI2CMasterStatus

bool mpu_getIntI2CMasterStatus () 

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.

Returns:

Current interrupt status

See also: mpu_RA_INT_STATUS

See also: mpu_INTERRUPT_I2C_MST_INT_BIT

function mpu_getIntMotionEnabled

bool mpu_getIntMotionEnabled () 

Get Motion Detection interrupt enabled status. Will be set 0 for disabled, 1 for enabled.

Returns:

Current interrupt enabled status

See also: mpu_RA_INT_ENABLE

See also: mpu_INTERRUPT_MOT_BIT

function mpu_getIntMotionStatus

bool mpu_getIntMotionStatus () 

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.

Returns:

Current interrupt status

See also: mpu_RA_INT_STATUS

See also: mpu_INTERRUPT_MOT_BIT

function mpu_getIntPLLReadyEnabled

bool mpu_getIntPLLReadyEnabled () 

function mpu_getIntPLLReadyStatus

bool mpu_getIntPLLReadyStatus () 

function mpu_getIntStatus

uint8_t mpu_getIntStatus () 

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.

Returns:

Current interrupt status

See also: mpu_RA_INT_STATUS

function mpu_getIntZeroMotionEnabled

bool mpu_getIntZeroMotionEnabled () 

Get Zero Motion Detection interrupt enabled status. Will be set 0 for disabled, 1 for enabled.

Returns:

Current interrupt enabled status

See also: mpu_RA_INT_ENABLE

See also: mpu_INTERRUPT_ZMOT_BIT

function mpu_getIntZeroMotionStatus

bool mpu_getIntZeroMotionStatus () 

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.

Returns:

Current interrupt status

See also: mpu_RA_INT_STATUS

See also: mpu_INTERRUPT_ZMOT_BIT

function mpu_getInterruptDrive

bool mpu_getInterruptDrive () 

Get interrupt drive mode. Will be set 0 for push-pull, 1 for open-drain.

Returns:

Current interrupt drive mode (0=push-pull, 1=open-drain)

See also: mpu_RA_INT_PIN_CFG

See also: mpu_INTCFG_INT_OPEN_BIT

function mpu_getInterruptLatch

bool mpu_getInterruptLatch () 

Get interrupt latch mode. Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.

Returns:

Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)

See also: mpu_RA_INT_PIN_CFG

See also: mpu_INTCFG_LATCH_INT_EN_BIT

function mpu_getInterruptLatchClear

bool mpu_getInterruptLatchClear () 

Get interrupt latch clear mode. Will be set 0 for status-read-only, 1 for any-register-read.

Returns:

Current latch clear mode (0=status-read-only, 1=any-register-read)

See also: mpu_RA_INT_PIN_CFG

See also: mpu_INTCFG_INT_RD_CLEAR_BIT

function mpu_getInterruptMode

bool mpu_getInterruptMode () 

Get interrupt logic level mode. Will be set 0 for active-high, 1 for active-low.

Returns:

Current interrupt mode (0=active-high, 1=active-low)

See also: mpu_RA_INT_PIN_CFG

See also: mpu_INTCFG_INT_LEVEL_BIT

function mpu_getLostArbitration

bool mpu_getLostArbitration () 

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.

Returns:

Master arbitration lost status

See also: mpu_RA_I2C_MST_STATUS

function mpu_getMasterClockSpeed

uint8_t mpu_getMasterClockSpeed () 

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:

Returns:

Current I2C master clock speed

See also: mpu_RA_I2C_MST_CTRL

function mpu_getMotion6

void mpu_getMotion6 (
    int16_t * ax,
    int16_t * ay,
    int16_t * az,
    int16_t * gx,
    int16_t * gy,
    int16_t * gz
) 

Get raw 6-axis motion sensor readings (accel/gyro). Retrieves all currently available motion sensor values.

Parameters:

• ax 16-bit signed integer container for accelerometer X-axis value
• ay 16-bit signed integer container for accelerometer Y-axis value
• az 16-bit signed integer container for accelerometer Z-axis value
• gx 16-bit signed integer container for gyroscope X-axis value
• gy 16-bit signed integer container for gyroscope Y-axis value
• gz 16-bit signed integer container for gyroscope Z-axis value

See also: getAcceleration()

See also: getRotation()

See also: mpu_RA_ACCEL_XOUT_H

function mpu_getMotion9

void mpu_getMotion9 (
    int16_t * ax,
    int16_t * ay,
    int16_t * az,
    int16_t * gx,
    int16_t * gy,
    int16_t * gz,
    int16_t * mx,
    int16_t * my,
    int16_t * mz
) 

Get raw 9-axis motion sensor readings (accel/gyro/compass). FUNCTION NOT FULLY IMPLEMENTED YET.

Parameters:

• ax 16-bit signed integer container for accelerometer X-axis value
• ay 16-bit signed integer container for accelerometer Y-axis value
• az 16-bit signed integer container for accelerometer Z-axis value
• gx 16-bit signed integer container for gyroscope X-axis value
• gy 16-bit signed integer container for gyroscope Y-axis value
• gz 16-bit signed integer container for gyroscope Z-axis value
• mx 16-bit signed integer container for magnetometer X-axis value
• my 16-bit signed integer container for magnetometer Y-axis value
• mz 16-bit signed integer container for magnetometer Z-axis value

See also: getMotion6()

See also: getAcceleration()

See also: getRotation()

See also: mpu_RA_ACCEL_XOUT_H

function mpu_getMotionDetectionCounterDecrement

uint8_t mpu_getMotionDetectionCounterDecrement () 

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:

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.

function mpu_getMotionDetectionDuration

uint8_t mpu_getMotionDetectionDuration () 

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.

Returns:

Current motion detection duration threshold value (LSB = 1ms)

See also: mpu_RA_MOT_DUR

function mpu_getMotionDetectionThreshold

uint8_t mpu_getMotionDetectionThreshold () 

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.

Returns:

Current motion detection acceleration threshold value (LSB = 2mg)

See also: mpu_RA_MOT_THR

function mpu_getMultiMasterEnabled

bool mpu_getMultiMasterEnabled () 

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.

Returns:

Current multi-master enabled value

See also: mpu_RA_I2C_MST_CTRL

function mpu_getOTPBankValid

uint8_t mpu_getOTPBankValid () 

function mpu_getPassthroughStatus

bool mpu_getPassthroughStatus () 

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).

Returns:

FSYNC interrupt status

See also: mpu_RA_I2C_MST_STATUS

function mpu_getRate

uint8_t mpu_getRate () 

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.

Returns:

Current sample rate

See also: mpu_RA_SMPLRT_DIV

function mpu_getRotation

void mpu_getRotation (
    int16_t * x,
    int16_t * y,
    int16_t * z
) 

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:

Parameters:

• x 16-bit signed integer container for X-axis rotation
• y 16-bit signed integer container for Y-axis rotation
• z 16-bit signed integer container for Z-axis rotation

See also: getMotion6()

See also: mpu_RA_GYRO_XOUT_H

function mpu_getRotationX

int16_t mpu_getRotationX () 

Get X-axis gyroscope reading.

Returns:

X-axis rotation measurement in 16-bit 2's complement format

See also: getMotion6()

See also: mpu_RA_GYRO_XOUT_H

function mpu_getRotationY

int16_t mpu_getRotationY () 

Get Y-axis gyroscope reading.

Returns:

Y-axis rotation measurement in 16-bit 2's complement format

See also: getMotion6()

See also: mpu_RA_GYRO_YOUT_H

function mpu_getRotationZ

int16_t mpu_getRotationZ () 

Get Z-axis gyroscope reading.

Returns:

Z-axis rotation measurement in 16-bit 2's complement format

See also: getMotion6()

See also: mpu_RA_GYRO_ZOUT_H

function mpu_getSlate4InputByte

uint8_t mpu_getSlate4InputByte () 

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.

Returns:

Last available byte read from to Slave 4

See also: mpu_RA_I2C_SLV4_DI

function mpu_getSlave0FIFOEnabled

bool mpu_getSlave0FIFOEnabled () 

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 mpu6050.buffer.

Returns:

Current Slave 0 FIFO enabled value

See also: mpu_RA_FIFO_EN

function mpu_getSlave0Nack

bool mpu_getSlave0Nack () 

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.

Returns:

Slave 0 NACK interrupt status

See also: mpu_RA_I2C_MST_STATUS

function mpu_getSlave1FIFOEnabled

bool mpu_getSlave1FIFOEnabled () 

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 mpu6050.buffer.

Returns:

Current Slave 1 FIFO enabled value

See also: mpu_RA_FIFO_EN

function mpu_getSlave1Nack

bool mpu_getSlave1Nack () 

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.

Returns:

Slave 1 NACK interrupt status

See also: mpu_RA_I2C_MST_STATUS

function mpu_getSlave2FIFOEnabled

bool mpu_getSlave2FIFOEnabled () 

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 mpu6050.buffer.

Returns:

Current Slave 2 FIFO enabled value

See also: mpu_RA_FIFO_EN

function mpu_getSlave2Nack

bool mpu_getSlave2Nack () 

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.

Returns:

Slave 2 NACK interrupt status

See also: mpu_RA_I2C_MST_STATUS

function mpu_getSlave3FIFOEnabled

bool mpu_getSlave3FIFOEnabled () 

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 mpu6050.buffer.

Returns:

Current Slave 3 FIFO enabled value

See also: mpu_RA_MST_CTRL

function mpu_getSlave3Nack

bool mpu_getSlave3Nack () 

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.

Returns:

Slave 3 NACK interrupt status

See also: mpu_RA_I2C_MST_STATUS

function mpu_getSlave4Address

uint8_t mpu_getSlave4Address () 

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.

Returns:

Current address for Slave 4

See also: getSlaveAddress()

See also: mpu_RA_I2C_SLV4_ADDR

function mpu_getSlave4Enabled

bool mpu_getSlave4Enabled () 

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.

Returns:

Current enabled value for Slave 4

See also: mpu_RA_I2C_SLV4_CTRL

function mpu_getSlave4InterruptEnabled

bool mpu_getSlave4InterruptEnabled () 

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.

Returns:

Current enabled value for Slave 4 transaction interrupts.

See also: mpu_RA_I2C_SLV4_CTRL

function mpu_getSlave4IsDone

bool mpu_getSlave4IsDone () 

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).

Returns:

Slave 4 transaction done status

See also: mpu_RA_I2C_MST_STATUS

function mpu_getSlave4MasterDelay

uint8_t mpu_getSlave4MasterDelay () 

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: 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.

Returns:

Current Slave 4 master delay value

See also: mpu_RA_I2C_SLV4_CTRL

function mpu_getSlave4Nack

bool mpu_getSlave4Nack () 

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.

Returns:

Slave 4 NACK interrupt status

See also: mpu_RA_I2C_MST_STATUS

function mpu_getSlave4Register

uint8_t mpu_getSlave4Register () 

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.

Returns:

Current active register for Slave 4

See also: mpu_RA_I2C_SLV4_REG

function mpu_getSlave4WriteMode

bool mpu_getSlave4WriteMode () 

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.

Returns:

Current write mode for Slave 4 (0 = register address + data, 1 = data only)

See also: mpu_RA_I2C_SLV4_CTRL

function mpu_getSlaveAddress

uint8_t mpu_getSlaveAddress (
    uint8_t num
) 

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.

Parameters:

• num Slave number (0-3)

Returns:

Current address for specified slave

See also: mpu_RA_I2C_SLV0_ADDR

function mpu_getSlaveDataLength

uint8_t mpu_getSlaveDataLength (
    uint8_t num
) 

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.

Parameters:

• num Slave number (0-3)

Returns:

Number of bytes to read for specified slave

See also: mpu_RA_I2C_SLV0_CTRL

function mpu_getSlaveDelayEnabled

bool mpu_getSlaveDelayEnabled (
    uint8_t num
) 

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: 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.

Parameters:

• num Slave number (0-4)

Returns:

Current slave delay enabled status.

See also: mpu_RA_I2C_MST_DELAY_CTRL

See also: mpu_DELAYCTRL_I2C_SLV0_DLY_EN_BIT

function mpu_getSlaveEnabled

bool mpu_getSlaveEnabled (
    uint8_t num
) 

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.

Parameters:

• num Slave number (0-3)

Returns:

Current enabled value for specified slave

See also: mpu_RA_I2C_SLV0_CTRL

function mpu_getSlaveReadWriteTransitionEnabled

bool mpu_getSlaveReadWriteTransitionEnabled () 

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.

Returns:

Current slave read/write transition enabled value

See also: mpu_RA_I2C_MST_CTRL

function mpu_getSlaveRegister

uint8_t mpu_getSlaveRegister (
    uint8_t num
) 

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.

Parameters:

• num Slave number (0-3)

Returns:

Current active register for specified slave

See also: mpu_RA_I2C_SLV0_REG

function mpu_getSlaveWordByteSwap

bool mpu_getSlaveWordByteSwap (
    uint8_t num
) 

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.

Parameters:

• num Slave number (0-3)

Returns:

Current word pair byte-swapping enabled value for specified slave

See also: mpu_RA_I2C_SLV0_CTRL

function mpu_getSlaveWordGroupOffset

bool mpu_getSlaveWordGroupOffset (
    uint8_t num
) 

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.

Parameters:

• num Slave number (0-3)

Returns:

Current word pair grouping order offset for specified slave

See also: mpu_RA_I2C_SLV0_CTRL

function mpu_getSlaveWriteMode

bool mpu_getSlaveWriteMode (
    uint8_t num
) 

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.

Parameters:

• num Slave number (0-3)

Returns:

Current write mode for specified slave (0 = register address + data, 1 = data only)

See also: mpu_RA_I2C_SLV0_CTRL

function mpu_getSleepEnabled

bool mpu_getSleepEnabled () 

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.

Returns:

Current sleep mode enabled status

See also: mpu_RA_PWR_MGMT_1

See also: mpu_PWR1_SLEEP_BIT

function mpu_getStandbyXAccelEnabled

bool mpu_getStandbyXAccelEnabled () 

function mpu_getStandbyXGyroEnabled

bool mpu_getStandbyXGyroEnabled () 

function mpu_getStandbyYAccelEnabled

bool mpu_getStandbyYAccelEnabled () 

function mpu_getStandbyYGyroEnabled

bool mpu_getStandbyYGyroEnabled () 

function mpu_getStandbyZAccelEnabled

bool mpu_getStandbyZAccelEnabled () 

function mpu_getStandbyZGyroEnabled

bool mpu_getStandbyZGyroEnabled () 

function mpu_getTempFIFOEnabled

bool mpu_getTempFIFOEnabled () 

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 mpu6050.buffer.

Returns:

Current temperature FIFO enabled value

See also: mpu_RA_FIFO_EN

function mpu_getTempSensorEnabled

bool mpu_getTempSensorEnabled () 

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.

Returns:

Current temperature sensor enabled status

See also: mpu_RA_PWR_MGMT_1

See also: mpu_PWR1_TEMP_DIS_BIT

function mpu_getTemperature

int16_t mpu_getTemperature () 

Get current internal temperature.

Returns:

Temperature reading in 16-bit 2's complement format

See also: mpu_RA_TEMP_OUT_H

function mpu_getWaitForExternalSensorEnabled

bool mpu_getWaitForExternalSensorEnabled () 

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.

Returns:

Current wait-for-external-sensor-data enabled value

See also: mpu_RA_I2C_MST_CTRL

function mpu_getWakeCycleEnabled

bool mpu_getWakeCycleEnabled () 

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).

Returns:

Current sleep mode enabled status

See also: mpu_RA_PWR_MGMT_1

See also: mpu_PWR1_CYCLE_BIT

function mpu_getWakeFrequency

uint8_t mpu_getWakeFrequency () 

function mpu_getXAccelOffset

int16_t mpu_getXAccelOffset () 

function mpu_getXGyroFIFOEnabled

bool mpu_getXGyroFIFOEnabled () 

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 mpu6050.buffer.

Returns:

Current gyroscope X-axis FIFO enabled value

See also: mpu_RA_FIFO_EN

function mpu_getXGyroOffset

int16_t mpu_getXGyroOffset () 

function mpu_getXNegMotionDetected

bool mpu_getXNegMotionDetected () 

Get X-axis negative motion detection interrupt status.

Returns:

Motion detection status

See also: mpu_RA_MOT_DETECT_STATUS

See also: mpu_MOTION_MOT_XNEG_BIT

function mpu_getXPosMotionDetected

bool mpu_getXPosMotionDetected () 

Get X-axis positive motion detection interrupt status.

Returns:

Motion detection status

See also: mpu_RA_MOT_DETECT_STATUS

See also: mpu_MOTION_MOT_XPOS_BIT

function mpu_getYAccelOffset

int16_t mpu_getYAccelOffset () 

function mpu_getYGyroFIFOEnabled

bool mpu_getYGyroFIFOEnabled () 

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 mpu6050.buffer.

Returns:

Current gyroscope Y-axis FIFO enabled value

See also: mpu_RA_FIFO_EN

function mpu_getYGyroOffset

int16_t mpu_getYGyroOffset () 

function mpu_getYNegMotionDetected

bool mpu_getYNegMotionDetected () 

Get Y-axis negative motion detection interrupt status.

Returns:

Motion detection status

See also: mpu_RA_MOT_DETECT_STATUS

See also: mpu_MOTION_MOT_YNEG_BIT

function mpu_getYPosMotionDetected

bool mpu_getYPosMotionDetected () 

Get Y-axis positive motion detection interrupt status.

Returns:

Motion detection status

See also: mpu_RA_MOT_DETECT_STATUS

See also: mpu_MOTION_MOT_YPOS_BIT

function mpu_getZAccelOffset

int16_t mpu_getZAccelOffset () 

function mpu_getZGyroFIFOEnabled

bool mpu_getZGyroFIFOEnabled () 

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 mpu6050.buffer.

Returns:

Current gyroscope Z-axis FIFO enabled value

See also: mpu_RA_FIFO_EN

function mpu_getZGyroOffset

int16_t mpu_getZGyroOffset () 

function mpu_getZNegMotionDetected

bool mpu_getZNegMotionDetected () 

Get Z-axis negative motion detection interrupt status.

Returns:

Motion detection status

See also: mpu_RA_MOT_DETECT_STATUS

See also: mpu_MOTION_MOT_ZNEG_BIT

function mpu_getZPosMotionDetected

bool mpu_getZPosMotionDetected () 

Get Z-axis positive motion detection interrupt status.

Returns:

Motion detection status

See also: mpu_RA_MOT_DETECT_STATUS

See also: mpu_MOTION_MOT_ZPOS_BIT

function mpu_getZeroMotionDetected

bool mpu_getZeroMotionDetected () 

Get zero motion detection interrupt status.

Returns:

Motion detection status

See also: mpu_RA_MOT_DETECT_STATUS

See also: mpu_MOTION_MOT_ZRMOT_BIT

function mpu_getZeroMotionDetectionDuration

uint8_t mpu_getZeroMotionDetectionDuration () 

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.

Returns:

Current zero motion detection duration threshold value (LSB = 64ms)

See also: mpu_RA_ZRMOT_DUR

function mpu_getZeroMotionDetectionThreshold

uint8_t mpu_getZeroMotionDetectionThreshold () 

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.

Returns:

Current zero motion detection acceleration threshold value (LSB = 2mg)

See also: mpu_RA_ZRMOT_THR

function mpu_readMemoryBlock

void mpu_readMemoryBlock (
    uint8_t * data,
    uint16_t dataSize,
    uint8_t bank,
    uint8_t address
) 

function mpu_readMemoryByte

uint8_t mpu_readMemoryByte () 

function mpu_reset

void mpu_reset () 

Trigger a full device reset. A small delay of ~50ms may be desirable after triggering a reset.

See also: mpu_RA_PWR_MGMT_1

See also: mpu_PWR1_DEVICE_RESET_BIT

function mpu_resetAccelerometerPath

void mpu_resetAccelerometerPath () 

Reset accelerometer signal path. The reset will revert the signal path analog to digital converters and filters to their power up configurations.

See also: mpu_RA_SIGNAL_PATH_RESET

See also: mpu_PATHRESET_ACCEL_RESET_BIT

function mpu_resetDMP

void mpu_resetDMP () 

function mpu_resetFIFO

void mpu_resetFIFO () 

Reset the FIFO. This bit resets the FIFO mpu6050.buffer when set to 1 while FIFO_EN equals 0. This bit automatically clears to 0 after the reset has been triggered.

See also: mpu_RA_USER_CTRL

See also: mpu_USERCTRL_FIFO_RESET_BIT

function mpu_resetGyroscopePath

void mpu_resetGyroscopePath () 

Reset gyroscope signal path. The reset will revert the signal path analog to digital converters and filters to their power up configurations.

See also: mpu_RA_SIGNAL_PATH_RESET

See also: mpu_PATHRESET_GYRO_RESET_BIT

function mpu_resetI2CMaster

void mpu_resetI2CMaster () 

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 also: mpu_RA_USER_CTRL

See also: mpu_USERCTRL_I2C_MST_RESET_BIT

function mpu_resetSensors

void mpu_resetSensors () 

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 also: mpu_RA_USER_CTRL

See also: mpu_USERCTRL_SIG_COND_RESET_BIT

function mpu_resetTemperaturePath

void mpu_resetTemperaturePath () 

Reset temperature sensor signal path. The reset will revert the signal path analog to digital converters and filters to their power up configurations.

See also: mpu_RA_SIGNAL_PATH_RESET

See also: mpu_PATHRESET_TEMP_RESET_BIT

function mpu_setAccelFIFOEnabled

void mpu_setAccelFIFOEnabled (
    bool enabled
) 

Set accelerometer FIFO enabled value.

Parameters:

• enabled New accelerometer FIFO enabled value

See also: getAccelFIFOEnabled()

See also: mpu_RA_FIFO_EN

function mpu_setAccelXSelfTest

void mpu_setAccelXSelfTest (
    bool enabled
) 

Get self-test enabled setting for accelerometer X axis.

Parameters:

• enabled Self-test enabled value

See also: mpu_RA_ACCEL_CONFIG

function mpu_setAccelYSelfTest

void mpu_setAccelYSelfTest (
    bool enabled
) 

Get self-test enabled value for accelerometer Y axis.

Parameters:

• enabled Self-test enabled value

See also: mpu_RA_ACCEL_CONFIG

function mpu_setAccelZSelfTest

void mpu_setAccelZSelfTest (
    bool enabled
) 

Set self-test enabled value for accelerometer Z axis.

Parameters:

• enabled Self-test enabled value

See also: mpu_RA_ACCEL_CONFIG

function mpu_setAccelerometerPowerOnDelay

void mpu_setAccelerometerPowerOnDelay (
    uint8_t delay
) 

Set accelerometer power-on delay.

Parameters:

• delay New accelerometer power-on delay (0-3)

See also: getAccelerometerPowerOnDelay()

See also: mpu_RA_MOT_DETECT_CTRL

See also: mpu_DETECT_ACCEL_ON_DELAY_BIT

function mpu_setAuxVDDIOLevel

void mpu_setAuxVDDIOLevel (
    uint8_t level
) 

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.

Parameters:

• level I2C supply voltage level (0=VLOGIC, 1=VDD)

function mpu_setClockOutputEnabled

void mpu_setClockOutputEnabled (
    bool enabled
) 

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.

Parameters:

• enabled New reference clock output enabled status

See also: mpu_RA_INT_PIN_CFG

See also: mpu_INTCFG_CLKOUT_EN_BIT

function mpu_setClockSource

void mpu_setClockSource (
    uint8_t source
) 

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:

Parameters:

• source New clock source setting

See also: getClockSource()

See also: mpu_RA_PWR_MGMT_1

See also: mpu_PWR1_CLKSEL_BIT

See also: mpu_PWR1_CLKSEL_LENGTH

function mpu_setDHPFMode

void mpu_setDHPFMode (
    uint8_t mode
) 

Set the high-pass filter configuration.

Parameters:

• bandwidth New high-pass filter configuration

See also: setDHPFMode()

See also: mpu_DHPF_RESET

See also: mpu_RA_ACCEL_CONFIG

function mpu_setDLPFMode

void mpu_setDLPFMode (
    uint8_t bandwidth
) 

Set digital low-pass filter configuration.

Parameters:

• mode New DLFP configuration setting

See also: getDLPFBandwidth()

See also: mpu_DLPF_BW_256

See also: mpu_RA_CONFIG

See also: mpu_CFG_DLPF_CFG_BIT

See also: mpu_CFG_DLPF_CFG_LENGTH

function mpu_setDMPConfig1

void mpu_setDMPConfig1 (
    uint8_t config
) 

function mpu_setDMPConfig2

void mpu_setDMPConfig2 (
    uint8_t config
) 

function mpu_setDMPEnabled

void mpu_setDMPEnabled (
    bool enabled
) 

function mpu_setDeviceID

void mpu_setDeviceID (
    uint8_t id
) 

function mpu_setExternalFrameSync

void mpu_setExternalFrameSync (
    uint8_t sync
) 

Set external FSYNC configuration.

See also: getExternalFrameSync()

See also: mpu_RA_CONFIG

Parameters:

• sync New FSYNC configuration value

function mpu_setExternalShadowDelayEnabled

void mpu_setExternalShadowDelayEnabled (
    bool enabled
) 

Set external data shadow delay enabled status.

Parameters:

• enabled New external data shadow delay enabled status.

See also: getExternalShadowDelayEnabled()

See also: mpu_RA_I2C_MST_DELAY_CTRL

See also: mpu_DELAYCTRL_DELAY_ES_SHADOW_BIT

function mpu_setFIFOByte

void mpu_setFIFOByte (
    uint8_t data
) 

function mpu_setFIFOEnabled

void mpu_setFIFOEnabled (
    bool enabled
) 

Set FIFO enabled status.

Parameters:

• enabled New FIFO enabled status

See also: getFIFOEnabled()

See also: mpu_RA_USER_CTRL

See also: mpu_USERCTRL_FIFO_EN_BIT

function mpu_setFSyncInterruptEnabled

void mpu_setFSyncInterruptEnabled (
    bool enabled
) 

Set FSYNC pin interrupt enabled setting.

Parameters:

• enabled New FSYNC pin interrupt enabled setting

See also: getFSyncInterruptEnabled()

See also: mpu_RA_INT_PIN_CFG

See also: mpu_INTCFG_FSYNC_INT_EN_BIT

function mpu_setFSyncInterruptLevel

void mpu_setFSyncInterruptLevel (
    bool level
) 

Set FSYNC interrupt logic level mode.

Parameters:

• mode New FSYNC interrupt mode (0=active-high, 1=active-low)

See also: getFSyncInterruptMode()

See also: mpu_RA_INT_PIN_CFG

See also: mpu_INTCFG_FSYNC_INT_LEVEL_BIT

function mpu_setFreefallDetectionCounterDecrement

void mpu_setFreefallDetectionCounterDecrement (
    uint8_t decrement
) 

Set Free Fall detection counter decrement configuration.

Parameters:

• decrement New decrement configuration value

See also: getFreefallDetectionCounterDecrement()

See also: mpu_RA_MOT_DETECT_CTRL

See also: mpu_DETECT_FF_COUNT_BIT

function mpu_setFreefallDetectionDuration

void mpu_setFreefallDetectionDuration (
    uint8_t duration
) 

Get free-fall event duration threshold.

Parameters:

• duration New free-fall duration threshold value (LSB = 1ms)

See also: getFreefallDetectionDuration()

See also: mpu_RA_FF_DUR

function mpu_setFreefallDetectionThreshold

void mpu_setFreefallDetectionThreshold (
    uint8_t threshold
) 

Get free-fall event acceleration threshold.

Parameters:

• threshold New free-fall acceleration threshold value (LSB = 2mg)

See also: getFreefallDetectionThreshold()

See also: mpu_RA_FF_THR

function mpu_setFullScaleAccelRange

void mpu_setFullScaleAccelRange (
    uint8_t range
) 

Set full-scale accelerometer range.

Parameters:

• range New full-scale accelerometer range setting

See also: getFullScaleAccelRange()

function mpu_setFullScaleGyroRange

void mpu_setFullScaleGyroRange (
    uint8_t range
) 

Set full-scale gyroscope range.

Parameters:

• range New full-scale gyroscope range value

See also: getFullScaleRange()

See also: mpu_GYRO_FS_250

See also: mpu_RA_GYRO_CONFIG

See also: mpu_GCONFIG_FS_SEL_BIT

See also: mpu_GCONFIG_FS_SEL_LENGTH

function mpu_setI2CBypassEnabled

void mpu_setI2CBypassEnabled (
    bool enabled
) 

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]).

Parameters:

• enabled New I2C bypass enabled status

See also: mpu_RA_INT_PIN_CFG

See also: mpu_INTCFG_I2C_BYPASS_EN_BIT

function mpu_setI2CMasterModeEnabled

void mpu_setI2CMasterModeEnabled (
    bool enabled
) 

Set I2C Master Mode enabled status.

Parameters:

• enabled New I2C Master Mode enabled status

See also: getI2CMasterModeEnabled()

See also: mpu_RA_USER_CTRL

See also: mpu_USERCTRL_I2C_MST_EN_BIT

function mpu_setIntDMPEnabled

void mpu_setIntDMPEnabled (
    bool enabled
) 

function mpu_setIntDataReadyEnabled

void mpu_setIntDataReadyEnabled (
    bool enabled
) 

Set Data Ready interrupt enabled status.

Parameters:

• enabled New interrupt enabled status

See also: getIntDataReadyEnabled()

See also: mpu_RA_INT_CFG

See also: mpu_INTERRUPT_DATA_RDY_BIT

function mpu_setIntEnabled

void mpu_setIntEnabled (
    uint8_t enabled
) 

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.

Parameters:

• enabled New interrupt enabled status

See also: getIntFreefallEnabled()

See also: mpu_RA_INT_ENABLE

See also: mpu_INTERRUPT_FF_BIT

function mpu_setIntFIFOBufferOverflowEnabled

void mpu_setIntFIFOBufferOverflowEnabled (
    bool enabled
) 

Set FIFO Buffer Overflow interrupt enabled status.

Parameters:

• enabled New interrupt enabled status

See also: getIntFIFOBufferOverflowEnabled()

See also: mpu_RA_INT_ENABLE

See also: mpu_INTERRUPT_FIFO_OFLOW_BIT

function mpu_setIntFreefallEnabled

void mpu_setIntFreefallEnabled (
    bool enabled
) 

Set Free Fall interrupt enabled status.

Parameters:

• enabled New interrupt enabled status

See also: getIntFreefallEnabled()

See also: mpu_RA_INT_ENABLE

See also: mpu_INTERRUPT_FF_BIT

function mpu_setIntI2CMasterEnabled

void mpu_setIntI2CMasterEnabled (
    bool enabled
) 

Set I2C Master interrupt enabled status.

Parameters:

• enabled New interrupt enabled status

See also: getIntI2CMasterEnabled()

See also: mpu_RA_INT_ENABLE

See also: mpu_INTERRUPT_I2C_MST_INT_BIT

function mpu_setIntMotionEnabled

void mpu_setIntMotionEnabled (
    bool enabled
) 

Set Motion Detection interrupt enabled status.

Parameters:

• enabled New interrupt enabled status

See also: getIntMotionEnabled()

See also: mpu_RA_INT_ENABLE

See also: mpu_INTERRUPT_MOT_BIT

function mpu_setIntPLLReadyEnabled

void mpu_setIntPLLReadyEnabled (
    bool enabled
) 

function mpu_setIntZeroMotionEnabled

void mpu_setIntZeroMotionEnabled (
    bool enabled
) 

Set Zero Motion Detection interrupt enabled status.

Parameters:

• enabled New interrupt enabled status

See also: getIntZeroMotionEnabled()

See also: mpu_RA_INT_ENABLE

See also: mpu_INTERRUPT_ZMOT_BIT

function mpu_setInterruptDrive

void mpu_setInterruptDrive (
    bool drive
) 

Set interrupt drive mode.

Parameters:

• drive New interrupt drive mode (0=push-pull, 1=open-drain)

See also: getInterruptDrive()

See also: mpu_RA_INT_PIN_CFG

See also: mpu_INTCFG_INT_OPEN_BIT

function mpu_setInterruptLatch

void mpu_setInterruptLatch (
    bool latch
) 

Set interrupt latch mode.

Parameters:

• latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)

See also: getInterruptLatch()

See also: mpu_RA_INT_PIN_CFG

See also: mpu_INTCFG_LATCH_INT_EN_BIT

function mpu_setInterruptLatchClear

void mpu_setInterruptLatchClear (
    bool clear
) 

Set interrupt latch clear mode.

Parameters:

• clear New latch clear mode (0=status-read-only, 1=any-register-read)

See also: getInterruptLatchClear()

See also: mpu_RA_INT_PIN_CFG

See also: mpu_INTCFG_INT_RD_CLEAR_BIT

function mpu_setInterruptMode

void mpu_setInterruptMode (
    bool mode
) 

Set interrupt logic level mode.

Parameters:

• mode New interrupt mode (0=active-high, 1=active-low)

See also: getInterruptMode()

See also: mpu_RA_INT_PIN_CFG

See also: mpu_INTCFG_INT_LEVEL_BIT

function mpu_setMasterClockSpeed

void mpu_setMasterClockSpeed (
    uint8_t speed
) 

Set I2C master clock speed. @reparam speed Current I2C master clock speed

See also: mpu_RA_I2C_MST_CTRL

function mpu_setMemoryBank

void mpu_setMemoryBank (
    uint8_t bank,
    bool prefetchEnabled,
    bool userBank
) 

function mpu_setMemoryStartAddress

void mpu_setMemoryStartAddress (
    uint8_t address
) 

function mpu_setMotionDetectionCounterDecrement

void mpu_setMotionDetectionCounterDecrement (
    uint8_t decrement
) 

Set Motion detection counter decrement configuration.

Parameters:

• decrement New decrement configuration value

See also: getMotionDetectionCounterDecrement()

See also: mpu_RA_MOT_DETECT_CTRL

See also: mpu_DETECT_MOT_COUNT_BIT

function mpu_setMotionDetectionDuration

void mpu_setMotionDetectionDuration (
    uint8_t duration
) 

Set motion detection event duration threshold.

Parameters:

• duration New motion detection duration threshold value (LSB = 1ms)

See also: getMotionDetectionDuration()

See also: mpu_RA_MOT_DUR

function mpu_setMotionDetectionThreshold

void mpu_setMotionDetectionThreshold (
    uint8_t threshold
) 

Set free-fall event acceleration threshold.

Parameters:

• threshold New motion detection acceleration threshold value (LSB = 2mg)

See also: getMotionDetectionThreshold()

See also: mpu_RA_MOT_THR

function mpu_setMultiMasterEnabled

void mpu_setMultiMasterEnabled (
    bool enabled
) 

Set multi-master enabled value.

Parameters:

• enabled New multi-master enabled value

See also: getMultiMasterEnabled()

See also: mpu_RA_I2C_MST_CTRL

function mpu_setOTPBankValid

void mpu_setOTPBankValid (
    bool enabled
) 

function mpu_setRate

void mpu_setRate (
    uint8_t rate
) 

Set gyroscope sample rate divider.

Parameters:

• rate New sample rate divider

See also: getRate()

See also: mpu_RA_SMPLRT_DIV

function mpu_setSlave0FIFOEnabled

void mpu_setSlave0FIFOEnabled (
    bool enabled
) 

Set Slave 0 FIFO enabled value.

Parameters:

• enabled New Slave 0 FIFO enabled value

See also: getSlave0FIFOEnabled()

See also: mpu_RA_FIFO_EN

function mpu_setSlave1FIFOEnabled

void mpu_setSlave1FIFOEnabled (
    bool enabled
) 

Set Slave 1 FIFO enabled value.

Parameters:

• enabled New Slave 1 FIFO enabled value

See also: getSlave1FIFOEnabled()

See also: mpu_RA_FIFO_EN

function mpu_setSlave2FIFOEnabled

void mpu_setSlave2FIFOEnabled (
    bool enabled
) 

Set Slave 2 FIFO enabled value.

Parameters:

• enabled New Slave 2 FIFO enabled value

See also: getSlave2FIFOEnabled()

See also: mpu_RA_FIFO_EN

function mpu_setSlave3FIFOEnabled

void mpu_setSlave3FIFOEnabled (
    bool enabled
) 

Set Slave 3 FIFO enabled value.

Parameters:

• enabled New Slave 3 FIFO enabled value

See also: getSlave3FIFOEnabled()

See also: mpu_RA_MST_CTRL

function mpu_setSlave4Address

void mpu_setSlave4Address (
    uint8_t address
) 

Set the I2C address of Slave 4.

Parameters:

• address New address for Slave 4

See also: getSlave4Address()

See also: mpu_RA_I2C_SLV4_ADDR

function mpu_setSlave4Enabled

void mpu_setSlave4Enabled (
    bool enabled
) 

Set the enabled value for Slave 4.

Parameters:

• enabled New enabled value for Slave 4

See also: getSlave4Enabled()

See also: mpu_RA_I2C_SLV4_CTRL

function mpu_setSlave4InterruptEnabled

void mpu_setSlave4InterruptEnabled (
    bool enabled
) 

Set the enabled value for Slave 4 transaction interrupts.

Parameters:

• enabled New enabled value for Slave 4 transaction interrupts.

See also: getSlave4InterruptEnabled()

See also: mpu_RA_I2C_SLV4_CTRL

function mpu_setSlave4MasterDelay

void mpu_setSlave4MasterDelay (
    uint8_t delay
) 

Set Slave 4 master delay value.

Parameters:

• delay New Slave 4 master delay value

See also: getSlave4MasterDelay()

See also: mpu_RA_I2C_SLV4_CTRL

function mpu_setSlave4OutputByte

void mpu_setSlave4OutputByte (
    uint8_t data
) 

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.

Parameters:

• data New byte to write to Slave 4

See also: mpu_RA_I2C_SLV4_DO

function mpu_setSlave4Register

void mpu_setSlave4Register (
    uint8_t reg
) 

Set the active internal register for Slave 4.

Parameters:

• reg New active register for Slave 4

See also: getSlave4Register()

See also: mpu_RA_I2C_SLV4_REG

function mpu_setSlave4WriteMode

void mpu_setSlave4WriteMode (
    bool mode
) 

Set write mode for the Slave 4.

Parameters:

• mode New write mode for Slave 4 (0 = register address + data, 1 = data only)

See also: getSlave4WriteMode()

See also: mpu_RA_I2C_SLV4_CTRL

function mpu_setSlaveAddress

void mpu_setSlaveAddress (
    uint8_t num,
    uint8_t address
) 

Set the I2C address of the specified slave (0-3).

Parameters:

• num Slave number (0-3)
• address New address for specified slave

See also: getSlaveAddress()

See also: mpu_RA_I2C_SLV0_ADDR

function mpu_setSlaveDataLength

void mpu_setSlaveDataLength (
    uint8_t num,
    uint8_t length
) 

Set number of bytes to read for the specified slave (0-3).

Parameters:

• num Slave number (0-3)
• length Number of bytes to read for specified slave

See also: getSlaveDataLength()

See also: mpu_RA_I2C_SLV0_CTRL

function mpu_setSlaveDelayEnabled

void mpu_setSlaveDelayEnabled (
    uint8_t num,
    bool enabled
)