diff --git a/GroundStation/GroundStation.class b/GroundStation/GroundStation.class new file mode 100644 index 0000000..5719b8a Binary files /dev/null and b/GroundStation/GroundStation.class differ diff --git a/GroundStation/GroundStation.java b/GroundStation/GroundStation.java new file mode 100644 index 0000000..fcf5a2c --- /dev/null +++ b/GroundStation/GroundStation.java @@ -0,0 +1,449 @@ +// graphics +import java.awt.*; +import java.awt.event.*; +import javax.swing.*; +import java.awt.image.*; +import javax.swing.border.*; + +// communication +import java.lang.*; +import java.io.*; +import java.net.*; + +/** + * Replaces GroundStation.java + * Written by Brendan Haines + */ +class GroundStation implements ActionListener, Runnable { + + ////////////////// + ///// FIELDS ///// + ////////////////// + + /** string to hold the connection type */ + private String connectionType = ""; + /** boolean to hold connected/disconnected status */ + private boolean connectionStatus = false; + /** TCP/IP socket for communication */ + private Socket tcpSocket; + /** input buffer handling for tcpSocket */ + private BufferedReader tcpIn; + /** output handler for tcpSocket */ + private PrintWriter tcpOut; + /** thread to listen to tcpSocket */ + private Thread tcpListener; + + // Main GUI components + /** window to hold GUI */ + private JFrame mainFrame; + /** panel to fill mainFrame */ + private JPanel mainPanel; + + /** panel to hold connection options */ + private JPanel connectionPanel; + /** connection options panel */ + private JPanel connectionOptionsPanel; + /** connection type selection box */ + private JComboBox connectionTypeComboBox; + /** card layout container for different connection types */ + private JPanel connectionTypePanel; + /** JPanel to hold TCP/IP settings */ + private JPanel tcpPanel; + /** label for host address field */ + private JLabel tcpHostAddressFieldLabel; + /** text field for host address */ + private JTextField tcpHostAddressField; + /** label for port field */ + private JLabel tcpHostPortFieldLabel; + /** text field for port of socket */ + private JTextField tcpHostPortField; + /** connect/disconnect button */ + private JButton connectButton; + + /** tabbed pane to hold many features */ + private JTabbedPane tabbedPane; + /** command line interface tab */ + private JPanel cliPanel; + /** panel to hold display options */ + private JPanel cliOptionsPanel; + /** checkbox to display confirmation/replies from pi */ + private JCheckBox cliShowReceivedCheckBox; + /** scrolling pane to hold command area */ + private JScrollPane cliCommandScrollPane; + /** text area to display commands */ + private JTextArea cliCommandArea; + /** panel to hold input stuff */ + private JPanel cliInputPanel; + /** text field to enter commands */ + private JTextField cliInputField; + /** send command button */ + private JButton cliInputButton; + /** control panel */ + private JPanel controlPanel; + /** arm/disarm flight controller button */ + private JButton armDisarmButton; + /** calibrate IMU button */ + private JButton calibrateImuButton; + /** motor testing tab */ + private JPanel motorTestPanel; + /** placeholder */ + private JLabel motorTestPlaceholder; + + //////////////////////// + ///// CONSTRUCTORS ///// + //////////////////////// + + public GroundStation() { + setupWindow(); + } + + /////////////////// + ///// METHODS ///// + /////////////////// + + /** + * sets up GUI + */ + private void setupWindow() { + mainFrame = new JFrame( "PiCopter Ground Station" ); + mainFrame.setResizable( true ); + mainFrame.setDefaultCloseOperation( JFrame.DISPOSE_ON_CLOSE ); + + mainPanel = new JPanel(); + mainPanel.setLayout( new BorderLayout() ); + + setupConnectionPanel(); + setupTabbedPane(); + + mainPanel.add( connectionPanel, BorderLayout.NORTH ); + mainPanel.add( tabbedPane, BorderLayout.CENTER ); + + mainFrame.add( mainPanel ); + + mainFrame.pack(); + mainFrame.setVisible( true ); + } + + /** + * sets up the connection panel + */ + private void setupConnectionPanel() { + connectionPanel = new JPanel( new BorderLayout() ); + connectionPanel.setBorder( BorderFactory.createTitledBorder( "connection options" ) ); + connectionOptionsPanel = new JPanel( new FlowLayout() ); + + connectionTypeComboBox = new JComboBox(); + connectionTypeComboBox.addItem( "TCP/IP" ); + connectionTypeComboBox.setSelectedIndex( 0 ); + connectionOptionsPanel.add( connectionTypeComboBox ); + + connectionTypePanel = new JPanel( new CardLayout() ); + + tcpPanel = new JPanel( new FlowLayout() ); + + tcpHostAddressFieldLabel = new JLabel( "Host Address:" ); + tcpHostAddressField = new JTextField(); + tcpHostAddressField.setColumns( 10 ); + tcpHostAddressField.setText( "192.168.42.1" ); + tcpHostPortFieldLabel = new JLabel( "Port:" ); + tcpHostPortField = new JTextField(); + tcpHostPortField.setColumns( 6 ); + tcpHostPortField.setText( "51717" ); + + tcpPanel.add( tcpHostAddressFieldLabel ); + tcpPanel.add( tcpHostAddressField ); + tcpPanel.add( tcpHostPortFieldLabel ); + tcpPanel.add( tcpHostPortField ); + + connectionTypePanel.add( tcpPanel, "TCP/IP" ); + + connectionOptionsPanel.add( connectionTypePanel ); + connectionPanel.add( connectionOptionsPanel, BorderLayout.NORTH ); + + connectButton = new JButton( "connect" ); + connectButton.addActionListener( this ); + connectionPanel.add( connectButton, BorderLayout.SOUTH ); + } + + /** + * sets up tabs + */ + private void setupTabbedPane() { + tabbedPane = new JTabbedPane(); + + setupCliTab(); + setupControlTab(); + setupMotorTestTab(); + + tabbedPane.add( cliPanel, "CLI", 0 ); + tabbedPane.add( controlPanel, "Control", 1 ); + tabbedPane.add( motorTestPanel, "Motor Testing", 2 ); + tabbedPane.setEnabledAt( 1, false ); + tabbedPane.setEnabledAt( 2, false ); + } + + /** + * sets up command line interface tab + */ + private void setupCliTab() { + cliPanel = new JPanel(); + cliPanel.setLayout( new BorderLayout() ); + + cliOptionsPanel = new JPanel(); + cliOptionsPanel.setLayout( new FlowLayout( FlowLayout.LEFT ) ); + + cliShowReceivedCheckBox = new JCheckBox( "show receive" ); + cliShowReceivedCheckBox.setSelected( true ); + cliShowReceivedCheckBox.addActionListener( this ); + cliOptionsPanel.add( cliShowReceivedCheckBox ); + + cliCommandArea = new JTextArea(); + cliCommandArea.setEditable( false ); + cliCommandScrollPane = new JScrollPane( cliCommandArea ); + cliCommandScrollPane.setPreferredSize( new Dimension( 400, 200 ) ); + new SmartScroller( cliCommandScrollPane ); + + cliInputPanel = new JPanel(); + cliInputPanel.setLayout( new BorderLayout() ); + cliInputField = new JTextField(); + cliInputField.addActionListener( this ); + cliInputButton = new JButton( "send" ); + cliInputButton.addActionListener( this ); + cliInputPanel.add( cliInputField, BorderLayout.CENTER ); + cliInputPanel.add( cliInputButton, BorderLayout.EAST ); + + cliPanel.add( cliOptionsPanel, BorderLayout.NORTH ); + cliPanel.add( cliCommandScrollPane, BorderLayout.CENTER ); + cliPanel.add( cliInputPanel, BorderLayout.SOUTH ); + } + + /** + * sets up control panel tab + */ + private void setupControlTab() { + controlPanel = new JPanel( new FlowLayout( FlowLayout.LEFT ) ); + + armDisarmButton = new JButton( "arm" ); + armDisarmButton.addActionListener( this ); + + calibrateImuButton = new JButton( "calibrate IMU" ); + calibrateImuButton.addActionListener( this ); + + controlPanel.add( armDisarmButton); + controlPanel.add( calibrateImuButton); + } + + /** + * sets up motor testing tab + */ + private void setupMotorTestTab() { + motorTestPanel = new JPanel(); + motorTestPanel.setLayout( new BorderLayout() ); + motorTestPlaceholder = new JLabel( "Motor Test Tab Placeholder" ); + motorTestPanel.add( motorTestPlaceholder, BorderLayout.NORTH ); + } + + /** + * enables/disables all components in a container + * @param container - the container to enable/disable components of + * @param enable - boolean value for .setEnabled() + */ + private void enableComponents( Container container, boolean enable ) { + Component[] components = container.getComponents(); + for( Component component : components ) { + component.setEnabled( enable ); + if (component instanceof Container) { + enableComponents( (Container) component, enable ); + } + } + } + + /** + * actionPerformed method to handle ActionEvents from all buttons and GUI interaction + */ + public void actionPerformed( ActionEvent evt ) { + + // command line interface + if( evt.getSource() == cliInputButton || evt.getSource() == cliInputField ) { + String inputText = cliInputField.getText(); + cliInputField.setText( "" ); + if( inputText.equals( "" ) ) return; // if cliInput field is empty, do nothing + cliCommandArea.append( inputText + "\n" ); + + if( inputText.indexOf( "CONNECT" ) == 0 ) { + cliCommandArea.append( "--ERROR - connection with command line interface not supported\n"); + } + else if( inputText.indexOf( "DISCONNECT") == 0 ) { + disconnect(); + } + else if( inputText.indexOf( "SEND " ) == 0 ) { + String sendText = inputText.substring( 5, inputText.length() ); + cliCommandArea.append( "--SENDING: " + sendText + "\n" ); + tcpOut.println( sendText ); + } + else if( inputText.indexOf( "CLEAR" ) == 0 ) { + cliCommandArea.setText( "" ); + } + + else { + + } + } + + // connect button + else if( evt.getSource() == connectButton && evt.getActionCommand().equals( "connect" ) ) { + if( connectionTypeComboBox.getSelectedItem().equals( "TCP/IP" ) ) { + connectionType = "TCP/IP"; + if( tcpHostAddressField.getText().equals( "" ) || tcpHostPortField.getText().equals( "" ) ) { + System.out.println( "must enter an address & port for TCP/IP" ); + } + else if( connectTCP( tcpHostAddressField.getText(), Integer.parseInt( tcpHostPortField.getText() ) ) ) { + startTcpListener(); + } + else { + System.out.println( "failed to connect to TCP/IP server" ); + } + } + else { + System.out.println( "idk how you did that, but this protocol isn't supported...connectionTypeComboBox conains \"" + connectionTypeComboBox.getSelectedItem() + "\"" ); + } + } + + // disconnect button + else if( evt.getSource() == connectButton && evt.getActionCommand().equals( "disconnect" ) ) { + disconnect(); + } + + // arm button + else if( evt.getSource().equals( armDisarmButton ) && evt.getActionCommand().equals( "arm" ) ){ + cliCommandArea.append( "--ARMING..." ); + tcpOut.println( "ARM_CONTROLLER" ); + armDisarmButton.setText( "disarm" ); + cliCommandArea.append( "DONE\n" ); + } + + // disarm button + else if( evt.getSource().equals( armDisarmButton ) && evt.getActionCommand().equals( "disarm" ) ) { + cliCommandArea.append( "--DISARMING..." ); + tcpOut.println( "DISARM_CONTROLLER" ); + armDisarmButton.setText( "arm" ); + cliCommandArea.append( "DONE\n" ); + } + } + + /** + * connects over TCP/IP protocol + * @param hostAddress - the ip address of the server host + * @param hostPort - the port of the socket at the host + * @return true on success, false on failure + */ + private boolean connectTCP( String hostAddress, int hostPort ) { + cliCommandArea.append( "--CONNECTING WITH TCP..." ); + + try { + tcpSocket = new Socket( hostAddress, hostPort ); + tcpIn = new BufferedReader( new InputStreamReader( tcpSocket.getInputStream() ) ); + tcpOut = new PrintWriter( tcpSocket.getOutputStream(), true ); + startTcpListener(); + } + catch( UnknownHostException ex ) { + cliCommandArea.append( "UnknownHostException\n" ); + return false; + } + catch( IOException ex ) { + cliCommandArea.append( "IOException\n" ); + return false; + } + + setGuiConnected(); + connectionStatus = true; + cliCommandArea.append( "DONE\n" ); + return true; + } + + /** + * + */ + private void startTcpListener() { + tcpListener = new Thread( this, "tcpListenerThread" ); + tcpListener.start(); + } + + /** + * the method used by the TCP listening thread + */ + public void run() { + while( connectionStatus ) { + try { + if( tcpIn.ready() ) { + cliRxAppend( "--READING: " + tcpIn.readLine() + "\n" ); + } + } + catch( Exception ex ) {} + } + } + + /** + * will add the message to cli view if show receive checkbox is checked + */ + public void cliRxAppend( String message ) { + if( cliShowReceivedCheckBox.isSelected() ) { + cliCommandArea.append( message ); + } + } + + /** + * + */ + private void setGuiConnected() { + connectButton.setText( "disconnect" ); + tabbedPane.setEnabledAt( 1, true ); // control panel + tabbedPane.setEnabledAt( 2, true ); // motor testing panel + enableComponents( connectionOptionsPanel, false ); + mainFrame.setDefaultCloseOperation( JFrame.DO_NOTHING_ON_CLOSE ); + } + + /** + * + */ + private void setGuiDisconnected() { + connectButton.setText( "connect" ); + tabbedPane.setSelectedIndex( 0 ); + tabbedPane.setEnabledAt( 1, false ); // control panel + tabbedPane.setEnabledAt( 2, false ); // motor testing panel + enableComponents( connectionOptionsPanel, true ); + mainFrame.setDefaultCloseOperation( JFrame.DISPOSE_ON_CLOSE ); + } + + /** + * disconnects from whatever connection has been set up with Raspberry Pi + */ + private void disconnect() { + cliCommandArea.append( "--DISCONNECTING..."); + + tcpOut.println( "DISCONNECT" ); + + try { + tcpIn.close(); + tcpOut.close(); + } + catch( IOException ex ) { + cliCommandArea.append( "IOException\n" ); + return; + } + + setGuiDisconnected(); + connectionStatus = false; + cliCommandArea.append( "DONE\n" ); + } + + /** + * main begins the ground station + */ + public static void main( String[] args ) { + GroundStation groundStation = new GroundStation(); + } +} + + + diff --git a/GroundStation/SmartScroller$1.class b/GroundStation/SmartScroller$1.class new file mode 100644 index 0000000..dfed3b3 Binary files /dev/null and b/GroundStation/SmartScroller$1.class differ diff --git a/GroundStation/SmartScroller.class b/GroundStation/SmartScroller.class new file mode 100644 index 0000000..95926ce Binary files /dev/null and b/GroundStation/SmartScroller.class differ diff --git a/GroundStation/SmartScroller.java b/GroundStation/SmartScroller.java new file mode 100644 index 0000000..4cb6683 --- /dev/null +++ b/GroundStation/SmartScroller.java @@ -0,0 +1,172 @@ +import java.awt.Component; +import java.awt.event.*; +import javax.swing.*; +import javax.swing.text.*; + +/** + * The SmartScroller will attempt to keep the viewport positioned based on + * the users interaction with the scrollbar. The normal behaviour is to keep + * the viewport positioned to see new data as it is dynamically added. + * + * Assuming vertical scrolling and data is added to the bottom: + * + * - when the viewport is at the bottom and new data is added, + * then automatically scroll the viewport to the bottom + * - when the viewport is not at the bottom and new data is added, + * then do nothing with the viewport + * + * Assuming vertical scrolling and data is added to the top: + * + * - when the viewport is at the top and new data is added, + * then do nothing with the viewport + * - when the viewport is not at the top and new data is added, then adjust + * the viewport to the relative position it was at before the data was added + * + * Similiar logic would apply for horizontal scrolling. + */ +public class SmartScroller implements AdjustmentListener +{ + public final static int HORIZONTAL = 0; + public final static int VERTICAL = 1; + + public final static int START = 0; + public final static int END = 1; + + private int viewportPosition; + + private JScrollBar scrollBar; + private boolean adjustScrollBar = true; + + private int previousValue = -1; + private int previousMaximum = -1; + + /** + * Convenience constructor. + * Scroll direction is VERTICAL and viewport position is at the END. + * + * @param scrollPane the scroll pane to monitor + */ + public SmartScroller(JScrollPane scrollPane) + { + this(scrollPane, VERTICAL, END); + } + + /** + * Convenience constructor. + * Scroll direction is VERTICAL. + * + * @param scrollPane the scroll pane to monitor + * @param viewportPosition valid values are START and END + */ + public SmartScroller(JScrollPane scrollPane, int viewportPosition) + { + this(scrollPane, VERTICAL, viewportPosition); + } + + /** + * Specify how the SmartScroller will function. + * + * @param scrollPane the scroll pane to monitor + * @param scrollDirection indicates which JScrollBar to monitor. + * Valid values are HORIZONTAL and VERTICAL. + * @param viewportPosition indicates where the viewport will normally be + * positioned as data is added. + * Valid values are START and END + */ + public SmartScroller(JScrollPane scrollPane, int scrollDirection, int viewportPosition) + { + if (scrollDirection != HORIZONTAL + && scrollDirection != VERTICAL) + throw new IllegalArgumentException("invalid scroll direction specified"); + + if (viewportPosition != START + && viewportPosition != END) + throw new IllegalArgumentException("invalid viewport position specified"); + + this.viewportPosition = viewportPosition; + + if (scrollDirection == HORIZONTAL) + scrollBar = scrollPane.getHorizontalScrollBar(); + else + scrollBar = scrollPane.getVerticalScrollBar(); + + scrollBar.addAdjustmentListener( this ); + + // Turn off automatic scrolling for text components + + Component view = scrollPane.getViewport().getView(); + + if (view instanceof JTextComponent) + { + JTextComponent textComponent = (JTextComponent)view; + DefaultCaret caret = (DefaultCaret)textComponent.getCaret(); + caret.setUpdatePolicy(DefaultCaret.NEVER_UPDATE); + } + } + + @Override + public void adjustmentValueChanged(final AdjustmentEvent e) + { + SwingUtilities.invokeLater(new Runnable() + { + public void run() + { + checkScrollBar(e); + } + }); + } + + /* + * Analyze every adjustment event to determine when the viewport + * needs to be repositioned. + */ + private void checkScrollBar(AdjustmentEvent e) + { + // The scroll bar listModel contains information needed to determine + // whether the viewport should be repositioned or not. + + JScrollBar scrollBar = (JScrollBar)e.getSource(); + BoundedRangeModel listModel = scrollBar.getModel(); + int value = listModel.getValue(); + int extent = listModel.getExtent(); + int maximum = listModel.getMaximum(); + + boolean valueChanged = previousValue != value; + boolean maximumChanged = previousMaximum != maximum; + + // Check if the user has manually repositioned the scrollbar + + if (valueChanged && !maximumChanged) + { + if (viewportPosition == START) + adjustScrollBar = value != 0; + else + adjustScrollBar = value + extent >= maximum; + } + + // Reset the "value" so we can reposition the viewport and + // distinguish between a user scroll and a program scroll. + // (ie. valueChanged will be false on a program scroll) + + if (adjustScrollBar && viewportPosition == END) + { + // Scroll the viewport to the end. + scrollBar.removeAdjustmentListener( this ); + value = maximum - extent; + scrollBar.setValue( value ); + scrollBar.addAdjustmentListener( this ); + } + + if (adjustScrollBar && viewportPosition == START) + { + // Keep the viewport at the same relative viewportPosition + scrollBar.removeAdjustmentListener( this ); + value = value + maximum - previousMaximum; + scrollBar.setValue( value ); + scrollBar.addAdjustmentListener( this ); + } + + previousValue = value; + previousMaximum = maximum; + } +} diff --git a/IMU/I2Cdev.cpp b/IMU/I2Cdev.cpp deleted file mode 100644 index 49765ad..0000000 --- a/IMU/I2Cdev.cpp +++ /dev/null @@ -1,427 +0,0 @@ -// I2Cdev library collection - Main I2C device class -// Abstracts bit and byte I2C R/W functions into a convenient class -// 6/9/2012 by Jeff Rowberg -// -// Changelog: -// 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire -// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation -// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums) -// 2011-10-03 - added automatic Arduino version detection for ease of use -// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications -// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x) -// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default -// 2011-08-02 - added support for 16-bit registers -// - fixed incorrect Doxygen comments on some methods -// - added timeout value for read operations (thanks mem @ Arduino forums) -// 2011-07-30 - changed read/write function structures to return success or byte counts -// - made all methods static for multi-device memory savings -// 2011-07-28 - initial release - -/* ============================================ -I2Cdev device library code is placed under the MIT license -Copyright (c) 2012 Jeff Rowberg - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in -all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -THE SOFTWARE. -=============================================== -*/ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "I2Cdev.h" - -/** 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) { - int8_t count = 0; - int fd = open("/dev/i2c-1", O_RDWR); - - if (fd < 0) { - fprintf(stderr, "Failed to open device: %s\n", strerror(errno)); - return(-1); - } - if (ioctl(fd, I2C_SLAVE, devAddr) < 0) { - fprintf(stderr, "Failed to select device: %s\n", strerror(errno)); - close(fd); - return(-1); - } - if (write(fd, ®Addr, 1) != 1) { - fprintf(stderr, "Failed to write reg: %s\n", strerror(errno)); - close(fd); - return(-1); - } - count = read(fd, data, length); - if (count < 0) { - fprintf(stderr, "Failed to read device(%d): %s\n", count, ::strerror(errno)); - close(fd); - return(-1); - } else if (count != length) { - fprintf(stderr, "Short read from device, expected %d, got %d\n", length, count); - close(fd); - return(-1); - } - close(fd); - - return count; -} - -/** Read multiple words from a 16-bit device register. - * @param devAddr I2C slave device address - * @param regAddr First register regAddr to read from - * @param length Number of words to read - * @param data Buffer to store read data in - * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) - * @return Number of words read (0 indicates failure) - */ -int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) { - int8_t count = 0; - - printf("ReadWords() not implemented\n"); - // Use readBytes() and potential byteswap - *data = 0; // keep the compiler quiet - - return count; -} - -/** write a single bit in an 8-bit device register. - * @param devAddr I2C slave device address - * @param regAddr Register regAddr to write to - * @param bitNum Bit position to write (0-7) - * @param value New bit value to write - * @return Status of operation (true = success) - */ -bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) { - uint8_t b; - readByte(devAddr, regAddr, &b); - b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum)); - return writeByte(devAddr, regAddr, b); -} - -/** write a single bit in a 16-bit device register. - * @param devAddr I2C slave device address - * @param regAddr Register regAddr to write to - * @param bitNum Bit position to write (0-15) - * @param value New bit value to write - * @return Status of operation (true = success) - */ -bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) { - uint16_t w; - readWord(devAddr, regAddr, &w); - w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum)); - return writeWord(devAddr, regAddr, w); -} - -/** Write multiple bits in an 8-bit device register. - * @param devAddr I2C slave device address - * @param regAddr Register regAddr to write to - * @param bitStart First bit position to write (0-7) - * @param length Number of bits to write (not more than 8) - * @param data Right-aligned value to write - * @return Status of operation (true = success) - */ -bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) { - // 010 value to write - // 76543210 bit numbers - // xxx args: bitStart=4, length=3 - // 00011100 mask byte - // 10101111 original value (sample) - // 10100011 original & ~mask - // 10101011 masked | value - uint8_t b; - if (readByte(devAddr, regAddr, &b) != 0) { - uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); - data <<= (bitStart - length + 1); // shift data into correct position - data &= mask; // zero all non-important bits in data - b &= ~(mask); // zero all important bits in existing byte - b |= data; // combine data with existing byte - return writeByte(devAddr, regAddr, b); - } else { - return false; - } -} - -/** Write multiple bits in a 16-bit device register. - * @param devAddr I2C slave device address - * @param regAddr Register regAddr to write to - * @param bitStart First bit position to write (0-15) - * @param length Number of bits to write (not more than 16) - * @param data Right-aligned value to write - * @return Status of operation (true = success) - */ -bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) { - // 010 value to write - // fedcba9876543210 bit numbers - // xxx args: bitStart=12, length=3 - // 0001110000000000 mask byte - // 1010111110010110 original value (sample) - // 1010001110010110 original & ~mask - // 1010101110010110 masked | value - uint16_t w; - if (readWord(devAddr, regAddr, &w) != 0) { - uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); - data <<= (bitStart - length + 1); // shift data into correct position - data &= mask; // zero all non-important bits in data - w &= ~(mask); // zero all important bits in existing word - w |= data; // combine data with existing word - return writeWord(devAddr, regAddr, w); - } else { - return false; - } -} - -/** Write single byte to an 8-bit device register. - * @param devAddr I2C slave device address - * @param regAddr Register address to write to - * @param data New byte value to write - * @return Status of operation (true = success) - */ -bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) { - return writeBytes(devAddr, regAddr, 1, &data); -} - -/** Write single word to a 16-bit device register. - * @param devAddr I2C slave device address - * @param regAddr Register address to write to - * @param data New word value to write - * @return Status of operation (true = success) - */ -bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) { - return writeWords(devAddr, regAddr, 1, &data); -} - -/** Write multiple bytes to an 8-bit device register. - * @param devAddr I2C slave device address - * @param regAddr First register address to write to - * @param length Number of bytes to write - * @param data Buffer to copy new data from - * @return Status of operation (true = success) - */ -bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data) { - int8_t count = 0; - uint8_t buf[128]; - int fd; - - if (length > 127) { - fprintf(stderr, "Byte write count (%d) > 127\n", length); - return(FALSE); - } - - fd = open("/dev/i2c-1", O_RDWR); - if (fd < 0) { - fprintf(stderr, "Failed to open device: %s\n", strerror(errno)); - return(FALSE); - } - if (ioctl(fd, I2C_SLAVE, devAddr) < 0) { - fprintf(stderr, "Failed to select device: %s\n", strerror(errno)); - close(fd); - return(FALSE); - } - buf[0] = regAddr; - memcpy(buf+1,data,length); - count = write(fd, buf, length+1); - if (count < 0) { - fprintf(stderr, "Failed to write device(%d): %s\n", count, ::strerror(errno)); - close(fd); - return(FALSE); - } else if (count != length+1) { - fprintf(stderr, "Short write to device, expected %d, got %d\n", length+1, count); - close(fd); - return(FALSE); - } - close(fd); - - return TRUE; -} - -/** 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) { - int8_t count = 0; - uint8_t buf[128]; - int i, fd; - - // Should do potential byteswap and call writeBytes() really, but that - // messes with the callers buffer - - if (length > 63) { - fprintf(stderr, "Word write count (%d) > 63\n", length); - return(FALSE); - } - - fd = open("/dev/i2c-1", O_RDWR); - if (fd < 0) { - fprintf(stderr, "Failed to open device: %s\n", strerror(errno)); - return(FALSE); - } - if (ioctl(fd, I2C_SLAVE, devAddr) < 0) { - fprintf(stderr, "Failed to select device: %s\n", strerror(errno)); - close(fd); - return(FALSE); - } - buf[0] = regAddr; - for (i = 0; i < length; i++) { - buf[i*2+1] = data[i] >> 8; - buf[i*2+2] = data[i]; - } - count = write(fd, buf, length*2+1); - if (count < 0) { - fprintf(stderr, "Failed to write device(%d): %s\n", count, ::strerror(errno)); - close(fd); - return(FALSE); - } else if (count != length*2+1) { - fprintf(stderr, "Short write to device, expected %d, got %d\n", length+1, count); - close(fd); - return(FALSE); - } - close(fd); - return TRUE; -} - -/** Default timeout value for read operations. - * Set this to 0 to disable timeout detection. - */ -uint16_t I2Cdev::readTimeout = 0; - diff --git a/IMU/I2Cdev.h b/IMU/I2Cdev.h deleted file mode 100644 index 47581df..0000000 --- a/IMU/I2Cdev.h +++ /dev/null @@ -1,77 +0,0 @@ -// I2Cdev library collection - Main I2C device class header file -// Abstracts bit and byte I2C R/W functions into a convenient class -// 6/9/2012 by Jeff Rowberg -// -// Changelog: -// 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire -// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation -// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums) -// 2011-10-03 - added automatic Arduino version detection for ease of use -// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications -// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x) -// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default -// 2011-08-02 - added support for 16-bit registers -// - fixed incorrect Doxygen comments on some methods -// - added timeout value for read operations (thanks mem @ Arduino forums) -// 2011-07-30 - changed read/write function structures to return success or byte counts -// - made all methods static for multi-device memory savings -// 2011-07-28 - initial release - -/* ============================================ -I2Cdev device library code is placed under the MIT license -Copyright (c) 2012 Jeff Rowberg - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in -all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -THE SOFTWARE. -=============================================== -*/ - -#ifndef _I2CDEV_H_ -#define _I2CDEV_H_ - -#ifndef TRUE -#define TRUE (1==1) -#define FALSE (0==1) -#endif - -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; -}; - -#endif /* _I2CDEV_H_ */ diff --git a/IMU/MPU6050.cpp b/IMU/MPU6050.cpp deleted file mode 100644 index 3bbad24..0000000 --- a/IMU/MPU6050.cpp +++ /dev/null @@ -1,3147 +0,0 @@ -// I2Cdev library collection - MPU6050 I2C device class -// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00) -// 8/24/2011 by Jeff Rowberg -// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib -// -// Changelog: -// ... - ongoing debug release - -// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE -// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF -// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING. - -/* ============================================ -I2Cdev device library code is placed under the MIT license -Copyright (c) 2012 Jeff Rowberg - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in -all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -THE SOFTWARE. -=============================================== -*/ - -#include -#include -#include -#include -#include -#include "MPU6050.h" - -/** Default constructor, uses default I2C address. - * @see MPU6050_DEFAULT_ADDRESS - */ -MPU6050::MPU6050() { - devAddr = MPU6050_DEFAULT_ADDRESS; -} - -/** Specific address constructor. - * @param address I2C address - * @see MPU6050_DEFAULT_ADDRESS - * @see MPU6050_ADDRESS_AD0_LOW - * @see MPU6050_ADDRESS_AD0_HIGH - */ -MPU6050::MPU6050(uint8_t address) { - devAddr = address; -} - -/** Power on and prepare for general usage. - * This will activate the device and take it out of sleep mode (which must be done - * after start-up). This function also sets both the accelerometer and the gyroscope - * to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets - * the clock source to use the X Gyro for reference, which is slightly better than - * the default internal clock source. - */ -void MPU6050::initialize() { - setClockSource(MPU6050_CLOCK_PLL_XGYRO); - setFullScaleGyroRange(MPU6050_GYRO_FS_250); - setFullScaleAccelRange(MPU6050_ACCEL_FS_2); - setSleepEnabled(false); // thanks to Jack Elston for pointing this one out! -} - -/** Verify the I2C connection. - * Make sure the device is connected and responds as expected. - * @return True if connection is valid, false otherwise - */ -bool MPU6050::testConnection() { - return getDeviceID() == 0x34; -} - -// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC) - -/** Get the auxiliary I2C supply voltage level. - * When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to - * 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to - * the MPU-6000, which does not have a VLOGIC pin. - * @return I2C supply voltage level (0=VLOGIC, 1=VDD) - */ -uint8_t MPU6050::getAuxVDDIOLevel() { - I2Cdev::readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer); - return buffer[0]; -} -/** Set the auxiliary I2C supply voltage level. - * When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to - * 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to - * the MPU-6000, which does not have a VLOGIC pin. - * @param level I2C supply voltage level (0=VLOGIC, 1=VDD) - */ -void MPU6050::setAuxVDDIOLevel(uint8_t level) { - I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level); -} - -// SMPLRT_DIV register - -/** Get gyroscope output rate divider. - * The sensor register output, FIFO output, DMP sampling, Motion detection, Zero - * Motion detection, and Free Fall detection are all based on the Sample Rate. - * The Sample Rate is generated by dividing the gyroscope output rate by - * SMPLRT_DIV: - * - * Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV) - * - * where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or - * 7), and 1kHz when the DLPF is enabled (see Register 26). - * - * Note: The accelerometer output rate is 1kHz. This means that for a Sample - * Rate greater than 1kHz, the same accelerometer sample may be output to the - * FIFO, DMP, and sensor registers more than once. - * - * For a diagram of the gyroscope and accelerometer signal paths, see Section 8 - * of the MPU-6000/MPU-6050 Product Specification document. - * - * @return Current sample rate - * @see MPU6050_RA_SMPLRT_DIV - */ -uint8_t MPU6050::getRate() { - I2Cdev::readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer); - return buffer[0]; -} -/** Set gyroscope sample rate divider. - * @param rate New sample rate divider - * @see getRate() - * @see MPU6050_RA_SMPLRT_DIV - */ -void MPU6050::setRate(uint8_t rate) { - I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate); -} - -// CONFIG register - -/** Get external FSYNC configuration. - * Configures the external Frame Synchronization (FSYNC) pin sampling. An - * external signal connected to the FSYNC pin can be sampled by configuring - * EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short - * strobes may be captured. The latched FSYNC signal will be sampled at the - * Sampling Rate, as defined in register 25. After sampling, the latch will - * reset to the current FSYNC signal state. - * - * The sampled value will be reported in place of the least significant bit in - * a sensor data register determined by the value of EXT_SYNC_SET according to - * the following table. - * - * 
- * EXT_SYNC_SET | FSYNC Bit Location
- * -------------+-------------------
- * 0            | Input disabled
- * 1            | TEMP_OUT_L[0]
- * 2            | GYRO_XOUT_L[0]
- * 3            | GYRO_YOUT_L[0]
- * 4            | GYRO_ZOUT_L[0]
- * 5            | ACCEL_XOUT_L[0]
- * 6            | ACCEL_YOUT_L[0]
- * 7            | ACCEL_ZOUT_L[0]
- *
- * - * @return FSYNC configuration value - */ -uint8_t MPU6050::getExternalFrameSync() { - I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer); - return buffer[0]; -} -/** Set external FSYNC configuration. - * @see getExternalFrameSync() - * @see MPU6050_RA_CONFIG - * @param sync New FSYNC configuration value - */ -void MPU6050::setExternalFrameSync(uint8_t sync) { - I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync); -} -/** Get digital low-pass filter configuration. - * The DLPF_CFG parameter sets the digital low pass filter configuration. It - * also determines the internal sampling rate used by the device as shown in - * the table below. - * - * Note: The accelerometer output rate is 1kHz. This means that for a Sample - * Rate greater than 1kHz, the same accelerometer sample may be output to the - * FIFO, DMP, and sensor registers more than once. - * - * 
- *          |   ACCELEROMETER    |           GYROSCOPE
- * DLPF_CFG | Bandwidth | Delay  | Bandwidth | Delay  | Sample Rate
- * ---------+-----------+--------+-----------+--------+-------------
- * 0        | 260Hz     | 0ms    | 256Hz     | 0.98ms | 8kHz
- * 1        | 184Hz     | 2.0ms  | 188Hz     | 1.9ms  | 1kHz
- * 2        | 94Hz      | 3.0ms  | 98Hz      | 2.8ms  | 1kHz
- * 3        | 44Hz      | 4.9ms  | 42Hz      | 4.8ms  | 1kHz
- * 4        | 21Hz      | 8.5ms  | 20Hz      | 8.3ms  | 1kHz
- * 5        | 10Hz      | 13.8ms | 10Hz      | 13.4ms | 1kHz
- * 6        | 5Hz       | 19.0ms | 5Hz       | 18.6ms | 1kHz
- * 7        |   -- Reserved --   |   -- Reserved --   | Reserved
- *
- * - * @return DLFP configuration - * @see MPU6050_RA_CONFIG - * @see MPU6050_CFG_DLPF_CFG_BIT - * @see MPU6050_CFG_DLPF_CFG_LENGTH - */ -uint8_t MPU6050::getDLPFMode() { - I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer); - return buffer[0]; -} -/** Set digital low-pass filter configuration. - * @param mode New DLFP configuration setting - * @see getDLPFBandwidth() - * @see MPU6050_DLPF_BW_256 - * @see MPU6050_RA_CONFIG - * @see MPU6050_CFG_DLPF_CFG_BIT - * @see MPU6050_CFG_DLPF_CFG_LENGTH - */ -void MPU6050::setDLPFMode(uint8_t mode) { - I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode); -} - -// GYRO_CONFIG register - -/** Get full-scale gyroscope range. - * The FS_SEL parameter allows setting the full-scale range of the gyro sensors, - * as described in the table below. - * - * 
- * 0 = +/- 250 degrees/sec
- * 1 = +/- 500 degrees/sec
- * 2 = +/- 1000 degrees/sec
- * 3 = +/- 2000 degrees/sec
- *
- * - * @return Current full-scale gyroscope range setting - * @see MPU6050_GYRO_FS_250 - * @see MPU6050_RA_GYRO_CONFIG - * @see MPU6050_GCONFIG_FS_SEL_BIT - * @see MPU6050_GCONFIG_FS_SEL_LENGTH - */ -uint8_t MPU6050::getFullScaleGyroRange() { - I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer); - return buffer[0]; -} -/** Set full-scale gyroscope range. - * @param range New full-scale gyroscope range value - * @see getFullScaleRange() - * @see MPU6050_GYRO_FS_250 - * @see MPU6050_RA_GYRO_CONFIG - * @see MPU6050_GCONFIG_FS_SEL_BIT - * @see MPU6050_GCONFIG_FS_SEL_LENGTH - */ -void MPU6050::setFullScaleGyroRange(uint8_t range) { - I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range); -} - -// ACCEL_CONFIG register - -/** Get self-test enabled setting for accelerometer X axis. - * @return Self-test enabled value - * @see MPU6050_RA_ACCEL_CONFIG - */ -bool MPU6050::getAccelXSelfTest() { - I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer); - return buffer[0]; -} -/** Get self-test enabled setting for accelerometer X axis. - * @param enabled Self-test enabled value - * @see MPU6050_RA_ACCEL_CONFIG - */ -void MPU6050::setAccelXSelfTest(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled); -} -/** Get self-test enabled value for accelerometer Y axis. - * @return Self-test enabled value - * @see MPU6050_RA_ACCEL_CONFIG - */ -bool MPU6050::getAccelYSelfTest() { - I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer); - return buffer[0]; -} -/** Get self-test enabled value for accelerometer Y axis. - * @param enabled Self-test enabled value - * @see MPU6050_RA_ACCEL_CONFIG - */ -void MPU6050::setAccelYSelfTest(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled); -} -/** Get self-test enabled value for accelerometer Z axis. - * @return Self-test enabled value - * @see MPU6050_RA_ACCEL_CONFIG - */ -bool MPU6050::getAccelZSelfTest() { - I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer); - return buffer[0]; -} -/** Set self-test enabled value for accelerometer Z axis. - * @param enabled Self-test enabled value - * @see MPU6050_RA_ACCEL_CONFIG - */ -void MPU6050::setAccelZSelfTest(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled); -} -/** Get full-scale accelerometer range. - * The FS_SEL parameter allows setting the full-scale range of the accelerometer - * sensors, as described in the table below. - * - * 
- * 0 = +/- 2g
- * 1 = +/- 4g
- * 2 = +/- 8g
- * 3 = +/- 16g
- *
- * - * @return Current full-scale accelerometer range setting - * @see MPU6050_ACCEL_FS_2 - * @see MPU6050_RA_ACCEL_CONFIG - * @see MPU6050_ACONFIG_AFS_SEL_BIT - * @see MPU6050_ACONFIG_AFS_SEL_LENGTH - */ -uint8_t MPU6050::getFullScaleAccelRange() { - I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer); - return buffer[0]; -} -/** Set full-scale accelerometer range. - * @param range New full-scale accelerometer range setting - * @see getFullScaleAccelRange() - */ -void MPU6050::setFullScaleAccelRange(uint8_t range) { - I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range); -} -/** Get the high-pass filter configuration. - * The DHPF is a filter module in the path leading to motion detectors (Free - * Fall, Motion threshold, and Zero Motion). The high pass filter output is not - * available to the data registers (see Figure in Section 8 of the MPU-6000/ - * MPU-6050 Product Specification document). - * - * The high pass filter has three modes: - * - * 
- *    Reset: The filter output settles to zero within one sample. This
- *           effectively disables the high pass filter. This mode may be toggled
- *           to quickly settle the filter.
- *
- *    On:    The high pass filter will pass signals above the cut off frequency.
- *
- *    Hold:  When triggered, the filter holds the present sample. The filter
- *           output will be the difference between the input sample and the held
- *           sample.
- *
- * - * 
- * ACCEL_HPF | Filter Mode | Cut-off Frequency
- * ----------+-------------+------------------
- * 0         | Reset       | None
- * 1         | On          | 5Hz
- * 2         | On          | 2.5Hz
- * 3         | On          | 1.25Hz
- * 4         | On          | 0.63Hz
- * 7         | Hold        | None
- *
- * - * @return Current high-pass filter configuration - * @see MPU6050_DHPF_RESET - * @see MPU6050_RA_ACCEL_CONFIG - */ -uint8_t MPU6050::getDHPFMode() { - I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer); - return buffer[0]; -} -/** Set the high-pass filter configuration. - * @param bandwidth New high-pass filter configuration - * @see setDHPFMode() - * @see MPU6050_DHPF_RESET - * @see MPU6050_RA_ACCEL_CONFIG - */ -void MPU6050::setDHPFMode(uint8_t bandwidth) { - I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth); -} - -// FF_THR register - -/** Get free-fall event acceleration threshold. - * This register configures the detection threshold for Free Fall event - * detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the - * absolute value of the accelerometer measurements for the three axes are each - * less than the detection threshold. This condition increments the Free Fall - * duration counter (Register 30). The Free Fall interrupt is triggered when the - * Free Fall duration counter reaches the time specified in FF_DUR. - * - * For more details on the Free Fall detection interrupt, see Section 8.2 of the - * MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and - * 58 of this document. - * - * @return Current free-fall acceleration threshold value (LSB = 2mg) - * @see MPU6050_RA_FF_THR - */ -uint8_t MPU6050::getFreefallDetectionThreshold() { - I2Cdev::readByte(devAddr, MPU6050_RA_FF_THR, buffer); - return buffer[0]; -} -/** Get free-fall event acceleration threshold. - * @param threshold New free-fall acceleration threshold value (LSB = 2mg) - * @see getFreefallDetectionThreshold() - * @see MPU6050_RA_FF_THR - */ -void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) { - I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold); -} - -// FF_DUR register - -/** Get free-fall event duration threshold. - * This register configures the duration counter threshold for Free Fall event - * detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit - * of 1 LSB = 1 ms. - * - * The Free Fall duration counter increments while the absolute value of the - * accelerometer measurements are each less than the detection threshold - * (Register 29). The Free Fall interrupt is triggered when the Free Fall - * duration counter reaches the time specified in this register. - * - * For more details on the Free Fall detection interrupt, see Section 8.2 of - * the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 - * and 58 of this document. - * - * @return Current free-fall duration threshold value (LSB = 1ms) - * @see MPU6050_RA_FF_DUR - */ -uint8_t MPU6050::getFreefallDetectionDuration() { - I2Cdev::readByte(devAddr, MPU6050_RA_FF_DUR, buffer); - return buffer[0]; -} -/** Get free-fall event duration threshold. - * @param duration New free-fall duration threshold value (LSB = 1ms) - * @see getFreefallDetectionDuration() - * @see MPU6050_RA_FF_DUR - */ -void MPU6050::setFreefallDetectionDuration(uint8_t duration) { - I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration); -} - -// MOT_THR register - -/** Get motion detection event acceleration threshold. - * This register configures the detection threshold for Motion interrupt - * generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the - * absolute value of any of the accelerometer measurements exceeds this Motion - * detection threshold. This condition increments the Motion detection duration - * counter (Register 32). The Motion detection interrupt is triggered when the - * Motion Detection counter reaches the time count specified in MOT_DUR - * (Register 32). - * - * The Motion interrupt will indicate the axis and polarity of detected motion - * in MOT_DETECT_STATUS (Register 97). - * - * For more details on the Motion detection interrupt, see Section 8.3 of the - * MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and - * 58 of this document. - * - * @return Current motion detection acceleration threshold value (LSB = 2mg) - * @see MPU6050_RA_MOT_THR - */ -uint8_t MPU6050::getMotionDetectionThreshold() { - I2Cdev::readByte(devAddr, MPU6050_RA_MOT_THR, buffer); - return buffer[0]; -} -/** Set free-fall event acceleration threshold. - * @param threshold New motion detection acceleration threshold value (LSB = 2mg) - * @see getMotionDetectionThreshold() - * @see MPU6050_RA_MOT_THR - */ -void MPU6050::setMotionDetectionThreshold(uint8_t threshold) { - I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold); -} - -// MOT_DUR register - -/** Get motion detection event duration threshold. - * This register configures the duration counter threshold for Motion interrupt - * generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit - * of 1LSB = 1ms. The Motion detection duration counter increments when the - * absolute value of any of the accelerometer measurements exceeds the Motion - * detection threshold (Register 31). The Motion detection interrupt is - * triggered when the Motion detection counter reaches the time count specified - * in this register. - * - * For more details on the Motion detection interrupt, see Section 8.3 of the - * MPU-6000/MPU-6050 Product Specification document. - * - * @return Current motion detection duration threshold value (LSB = 1ms) - * @see MPU6050_RA_MOT_DUR - */ -uint8_t MPU6050::getMotionDetectionDuration() { - I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DUR, buffer); - return buffer[0]; -} -/** Set motion detection event duration threshold. - * @param duration New motion detection duration threshold value (LSB = 1ms) - * @see getMotionDetectionDuration() - * @see MPU6050_RA_MOT_DUR - */ -void MPU6050::setMotionDetectionDuration(uint8_t duration) { - I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration); -} - -// ZRMOT_THR register - -/** Get zero motion detection event acceleration threshold. - * This register configures the detection threshold for Zero Motion interrupt - * generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when - * the absolute value of the accelerometer measurements for the 3 axes are each - * less than the detection threshold. This condition increments the Zero Motion - * duration counter (Register 34). The Zero Motion interrupt is triggered when - * the Zero Motion duration counter reaches the time count specified in - * ZRMOT_DUR (Register 34). - * - * Unlike Free Fall or Motion detection, Zero Motion detection triggers an - * interrupt both when Zero Motion is first detected and when Zero Motion is no - * longer detected. - * - * When a zero motion event is detected, a Zero Motion Status will be indicated - * in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion - * condition is detected, the status bit is set to 1. When a zero-motion-to- - * motion condition is detected, the status bit is set to 0. - * - * For more details on the Zero Motion detection interrupt, see Section 8.4 of - * the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 - * and 58 of this document. - * - * @return Current zero motion detection acceleration threshold value (LSB = 2mg) - * @see MPU6050_RA_ZRMOT_THR - */ -uint8_t MPU6050::getZeroMotionDetectionThreshold() { - I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer); - return buffer[0]; -} -/** Set zero motion detection event acceleration threshold. - * @param threshold New zero motion detection acceleration threshold value (LSB = 2mg) - * @see getZeroMotionDetectionThreshold() - * @see MPU6050_RA_ZRMOT_THR - */ -void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) { - I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold); -} - -// ZRMOT_DUR register - -/** Get zero motion detection event duration threshold. - * This register configures the duration counter threshold for Zero Motion - * interrupt generation. The duration counter ticks at 16 Hz, therefore - * ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter - * increments while the absolute value of the accelerometer measurements are - * each less than the detection threshold (Register 33). The Zero Motion - * interrupt is triggered when the Zero Motion duration counter reaches the time - * count specified in this register. - * - * For more details on the Zero Motion detection interrupt, see Section 8.4 of - * the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56 - * and 58 of this document. - * - * @return Current zero motion detection duration threshold value (LSB = 64ms) - * @see MPU6050_RA_ZRMOT_DUR - */ -uint8_t MPU6050::getZeroMotionDetectionDuration() { - I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer); - return buffer[0]; -} -/** Set zero motion detection event duration threshold. - * @param duration New zero motion detection duration threshold value (LSB = 1ms) - * @see getZeroMotionDetectionDuration() - * @see MPU6050_RA_ZRMOT_DUR - */ -void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) { - I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration); -} - -// FIFO_EN register - -/** Get temperature FIFO enabled value. - * When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and - * 66) to be written into the FIFO buffer. - * @return Current temperature FIFO enabled value - * @see MPU6050_RA_FIFO_EN - */ -bool MPU6050::getTempFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set temperature FIFO enabled value. - * @param enabled New temperature FIFO enabled value - * @see getTempFIFOEnabled() - * @see MPU6050_RA_FIFO_EN - */ -void MPU6050::setTempFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled); -} -/** Get gyroscope X-axis FIFO enabled value. - * When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and - * 68) to be written into the FIFO buffer. - * @return Current gyroscope X-axis FIFO enabled value - * @see MPU6050_RA_FIFO_EN - */ -bool MPU6050::getXGyroFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set gyroscope X-axis FIFO enabled value. - * @param enabled New gyroscope X-axis FIFO enabled value - * @see getXGyroFIFOEnabled() - * @see MPU6050_RA_FIFO_EN - */ -void MPU6050::setXGyroFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled); -} -/** Get gyroscope Y-axis FIFO enabled value. - * When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and - * 70) to be written into the FIFO buffer. - * @return Current gyroscope Y-axis FIFO enabled value - * @see MPU6050_RA_FIFO_EN - */ -bool MPU6050::getYGyroFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set gyroscope Y-axis FIFO enabled value. - * @param enabled New gyroscope Y-axis FIFO enabled value - * @see getYGyroFIFOEnabled() - * @see MPU6050_RA_FIFO_EN - */ -void MPU6050::setYGyroFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled); -} -/** Get gyroscope Z-axis FIFO enabled value. - * When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and - * 72) to be written into the FIFO buffer. - * @return Current gyroscope Z-axis FIFO enabled value - * @see MPU6050_RA_FIFO_EN - */ -bool MPU6050::getZGyroFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set gyroscope Z-axis FIFO enabled value. - * @param enabled New gyroscope Z-axis FIFO enabled value - * @see getZGyroFIFOEnabled() - * @see MPU6050_RA_FIFO_EN - */ -void MPU6050::setZGyroFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled); -} -/** Get accelerometer FIFO enabled value. - * When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H, - * ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be - * written into the FIFO buffer. - * @return Current accelerometer FIFO enabled value - * @see MPU6050_RA_FIFO_EN - */ -bool MPU6050::getAccelFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set accelerometer FIFO enabled value. - * @param enabled New accelerometer FIFO enabled value - * @see getAccelFIFOEnabled() - * @see MPU6050_RA_FIFO_EN - */ -void MPU6050::setAccelFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled); -} -/** Get Slave 2 FIFO enabled value. - * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) - * associated with Slave 2 to be written into the FIFO buffer. - * @return Current Slave 2 FIFO enabled value - * @see MPU6050_RA_FIFO_EN - */ -bool MPU6050::getSlave2FIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set Slave 2 FIFO enabled value. - * @param enabled New Slave 2 FIFO enabled value - * @see getSlave2FIFOEnabled() - * @see MPU6050_RA_FIFO_EN - */ -void MPU6050::setSlave2FIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled); -} -/** Get Slave 1 FIFO enabled value. - * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) - * associated with Slave 1 to be written into the FIFO buffer. - * @return Current Slave 1 FIFO enabled value - * @see MPU6050_RA_FIFO_EN - */ -bool MPU6050::getSlave1FIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set Slave 1 FIFO enabled value. - * @param enabled New Slave 1 FIFO enabled value - * @see getSlave1FIFOEnabled() - * @see MPU6050_RA_FIFO_EN - */ -void MPU6050::setSlave1FIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled); -} -/** Get Slave 0 FIFO enabled value. - * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) - * associated with Slave 0 to be written into the FIFO buffer. - * @return Current Slave 0 FIFO enabled value - * @see MPU6050_RA_FIFO_EN - */ -bool MPU6050::getSlave0FIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set Slave 0 FIFO enabled value. - * @param enabled New Slave 0 FIFO enabled value - * @see getSlave0FIFOEnabled() - * @see MPU6050_RA_FIFO_EN - */ -void MPU6050::setSlave0FIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled); -} - -// I2C_MST_CTRL register - -/** Get multi-master enabled value. - * Multi-master capability allows multiple I2C masters to operate on the same - * bus. In circuits where multi-master capability is required, set MULT_MST_EN - * to 1. This will increase current drawn by approximately 30uA. - * - * In circuits where multi-master capability is required, the state of the I2C - * bus must always be monitored by each separate I2C Master. Before an I2C - * Master can assume arbitration of the bus, it must first confirm that no other - * I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the - * MPU-60X0's bus arbitration detection logic is turned on, enabling it to - * detect when the bus is available. - * - * @return Current multi-master enabled value - * @see MPU6050_RA_I2C_MST_CTRL - */ -bool MPU6050::getMultiMasterEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer); - return buffer[0]; -} -/** Set multi-master enabled value. - * @param enabled New multi-master enabled value - * @see getMultiMasterEnabled() - * @see MPU6050_RA_I2C_MST_CTRL - */ -void MPU6050::setMultiMasterEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled); -} -/** Get wait-for-external-sensor-data enabled value. - * When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be - * delayed until External Sensor data from the Slave Devices are loaded into the - * EXT_SENS_DATA registers. This is used to ensure that both the internal sensor - * data (i.e. from gyro and accel) and external sensor data have been loaded to - * their respective data registers (i.e. the data is synced) when the Data Ready - * interrupt is triggered. - * - * @return Current wait-for-external-sensor-data enabled value - * @see MPU6050_RA_I2C_MST_CTRL - */ -bool MPU6050::getWaitForExternalSensorEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer); - return buffer[0]; -} -/** Set wait-for-external-sensor-data enabled value. - * @param enabled New wait-for-external-sensor-data enabled value - * @see getWaitForExternalSensorEnabled() - * @see MPU6050_RA_I2C_MST_CTRL - */ -void MPU6050::setWaitForExternalSensorEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled); -} -/** Get Slave 3 FIFO enabled value. - * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) - * associated with Slave 3 to be written into the FIFO buffer. - * @return Current Slave 3 FIFO enabled value - * @see MPU6050_RA_MST_CTRL - */ -bool MPU6050::getSlave3FIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set Slave 3 FIFO enabled value. - * @param enabled New Slave 3 FIFO enabled value - * @see getSlave3FIFOEnabled() - * @see MPU6050_RA_MST_CTRL - */ -void MPU6050::setSlave3FIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled); -} -/** Get slave read/write transition enabled value. - * The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave - * read to the next slave read. If the bit equals 0, there will be a restart - * between reads. If the bit equals 1, there will be a stop followed by a start - * of the following read. When a write transaction follows a read transaction, - * the stop followed by a start of the successive write will be always used. - * - * @return Current slave read/write transition enabled value - * @see MPU6050_RA_I2C_MST_CTRL - */ -bool MPU6050::getSlaveReadWriteTransitionEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer); - return buffer[0]; -} -/** Set slave read/write transition enabled value. - * @param enabled New slave read/write transition enabled value - * @see getSlaveReadWriteTransitionEnabled() - * @see MPU6050_RA_I2C_MST_CTRL - */ -void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled); -} -/** Get I2C master clock speed. - * I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the - * MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to - * the following table: - * - * 
- * I2C_MST_CLK | I2C Master Clock Speed | 8MHz Clock Divider
- * ------------+------------------------+-------------------
- * 0           | 348kHz                 | 23
- * 1           | 333kHz                 | 24
- * 2           | 320kHz                 | 25
- * 3           | 308kHz                 | 26
- * 4           | 296kHz                 | 27
- * 5           | 286kHz                 | 28
- * 6           | 276kHz                 | 29
- * 7           | 267kHz                 | 30
- * 8           | 258kHz                 | 31
- * 9           | 500kHz                 | 16
- * 10          | 471kHz                 | 17
- * 11          | 444kHz                 | 18
- * 12          | 421kHz                 | 19
- * 13          | 400kHz                 | 20
- * 14          | 381kHz                 | 21
- * 15          | 364kHz                 | 22
- *
- * - * @return Current I2C master clock speed - * @see MPU6050_RA_I2C_MST_CTRL - */ -uint8_t MPU6050::getMasterClockSpeed() { - I2Cdev::readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer); - return buffer[0]; -} -/** Set I2C master clock speed. - * @reparam speed Current I2C master clock speed - * @see MPU6050_RA_I2C_MST_CTRL - */ -void MPU6050::setMasterClockSpeed(uint8_t speed) { - I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed); -} - -// I2C_SLV* registers (Slave 0-3) - -/** Get the I2C address of the specified slave (0-3). - * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read - * operation, and if it is cleared, then it's a write operation. The remaining - * bits (6-0) are the 7-bit device address of the slave device. - * - * In read mode, the result of the read is placed in the lowest available - * EXT_SENS_DATA register. For further information regarding the allocation of - * read results, please refer to the EXT_SENS_DATA register description - * (Registers 73 - 96). - * - * The MPU-6050 supports a total of five slaves, but Slave 4 has unique - * characteristics, and so it has its own functions (getSlave4* and setSlave4*). - * - * I2C data transactions are performed at the Sample Rate, as defined in - * Register 25. The user is responsible for ensuring that I2C data transactions - * to and from each enabled Slave can be completed within a single period of the - * Sample Rate. - * - * The I2C slave access rate can be reduced relative to the Sample Rate. This - * reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a - * slave's access rate is reduced relative to the Sample Rate is determined by - * I2C_MST_DELAY_CTRL (Register 103). - * - * The processing order for the slaves is fixed. The sequence followed for - * processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a - * particular Slave is disabled it will be skipped. - * - * Each slave can either be accessed at the sample rate or at a reduced sample - * rate. In a case where some slaves are accessed at the Sample Rate and some - * slaves are accessed at the reduced rate, the sequence of accessing the slaves - * (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will - * be skipped if their access rate dictates that they should not be accessed - * during that particular cycle. For further information regarding the reduced - * access rate, please refer to Register 52. Whether a slave is accessed at the - * Sample Rate or at the reduced rate is determined by the Delay Enable bits in - * Register 103. - * - * @param num Slave number (0-3) - * @return Current address for specified slave - * @see MPU6050_RA_I2C_SLV0_ADDR - */ -uint8_t MPU6050::getSlaveAddress(uint8_t num) { - if (num > 3) return 0; - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer); - return buffer[0]; -} -/** Set the I2C address of the specified slave (0-3). - * @param num Slave number (0-3) - * @param address New address for specified slave - * @see getSlaveAddress() - * @see MPU6050_RA_I2C_SLV0_ADDR - */ -void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) { - if (num > 3) return; - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address); -} -/** Get the active internal register for the specified slave (0-3). - * Read/write operations for this slave will be done to whatever internal - * register address is stored in this MPU register. - * - * The MPU-6050 supports a total of five slaves, but Slave 4 has unique - * characteristics, and so it has its own functions. - * - * @param num Slave number (0-3) - * @return Current active register for specified slave - * @see MPU6050_RA_I2C_SLV0_REG - */ -uint8_t MPU6050::getSlaveRegister(uint8_t num) { - if (num > 3) return 0; - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer); - return buffer[0]; -} -/** Set the active internal register for the specified slave (0-3). - * @param num Slave number (0-3) - * @param reg New active register for specified slave - * @see getSlaveRegister() - * @see MPU6050_RA_I2C_SLV0_REG - */ -void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) { - if (num > 3) return; - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg); -} -/** Get the enabled value for the specified slave (0-3). - * When set to 1, this bit enables Slave 0 for data transfer operations. When - * cleared to 0, this bit disables Slave 0 from data transfer operations. - * @param num Slave number (0-3) - * @return Current enabled value for specified slave - * @see MPU6050_RA_I2C_SLV0_CTRL - */ -bool MPU6050::getSlaveEnabled(uint8_t num) { - if (num > 3) return 0; - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer); - return buffer[0]; -} -/** Set the enabled value for the specified slave (0-3). - * @param num Slave number (0-3) - * @param enabled New enabled value for specified slave - * @see getSlaveEnabled() - * @see MPU6050_RA_I2C_SLV0_CTRL - */ -void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) { - if (num > 3) return; - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled); -} -/** Get word pair byte-swapping enabled for the specified slave (0-3). - * When set to 1, this bit enables byte swapping. When byte swapping is enabled, - * the high and low bytes of a word pair are swapped. Please refer to - * I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0, - * bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA - * registers in the order they were transferred. - * - * @param num Slave number (0-3) - * @return Current word pair byte-swapping enabled value for specified slave - * @see MPU6050_RA_I2C_SLV0_CTRL - */ -bool MPU6050::getSlaveWordByteSwap(uint8_t num) { - if (num > 3) return 0; - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer); - return buffer[0]; -} -/** Set word pair byte-swapping enabled for the specified slave (0-3). - * @param num Slave number (0-3) - * @param enabled New word pair byte-swapping enabled value for specified slave - * @see getSlaveWordByteSwap() - * @see MPU6050_RA_I2C_SLV0_CTRL - */ -void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) { - if (num > 3) return; - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled); -} -/** Get write mode for the specified slave (0-3). - * When set to 1, the transaction will read or write data only. When cleared to - * 0, the transaction will write a register address prior to reading or writing - * data. This should equal 0 when specifying the register address within the - * Slave device to/from which the ensuing data transaction will take place. - * - * @param num Slave number (0-3) - * @return Current write mode for specified slave (0 = register address + data, 1 = data only) - * @see MPU6050_RA_I2C_SLV0_CTRL - */ -bool MPU6050::getSlaveWriteMode(uint8_t num) { - if (num > 3) return 0; - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer); - return buffer[0]; -} -/** Set write mode for the specified slave (0-3). - * @param num Slave number (0-3) - * @param mode New write mode for specified slave (0 = register address + data, 1 = data only) - * @see getSlaveWriteMode() - * @see MPU6050_RA_I2C_SLV0_CTRL - */ -void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) { - if (num > 3) return; - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode); -} -/** Get word pair grouping order offset for the specified slave (0-3). - * This sets specifies the grouping order of word pairs received from registers. - * When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even, - * then odd register addresses) are paired to form a word. When set to 1, bytes - * from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even - * register addresses) are paired to form a word. - * - * @param num Slave number (0-3) - * @return Current word pair grouping order offset for specified slave - * @see MPU6050_RA_I2C_SLV0_CTRL - */ -bool MPU6050::getSlaveWordGroupOffset(uint8_t num) { - if (num > 3) return 0; - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer); - return buffer[0]; -} -/** Set word pair grouping order offset for the specified slave (0-3). - * @param num Slave number (0-3) - * @param enabled New word pair grouping order offset for specified slave - * @see getSlaveWordGroupOffset() - * @see MPU6050_RA_I2C_SLV0_CTRL - */ -void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) { - if (num > 3) return; - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled); -} -/** Get number of bytes to read for the specified slave (0-3). - * Specifies the number of bytes transferred to and from Slave 0. Clearing this - * bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN. - * @param num Slave number (0-3) - * @return Number of bytes to read for specified slave - * @see MPU6050_RA_I2C_SLV0_CTRL - */ -uint8_t MPU6050::getSlaveDataLength(uint8_t num) { - if (num > 3) return 0; - I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer); - return buffer[0]; -} -/** Set number of bytes to read for the specified slave (0-3). - * @param num Slave number (0-3) - * @param length Number of bytes to read for specified slave - * @see getSlaveDataLength() - * @see MPU6050_RA_I2C_SLV0_CTRL - */ -void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) { - if (num > 3) return; - I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length); -} - -// I2C_SLV* registers (Slave 4) - -/** Get the I2C address of Slave 4. - * Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read - * operation, and if it is cleared, then it's a write operation. The remaining - * bits (6-0) are the 7-bit device address of the slave device. - * - * @return Current address for Slave 4 - * @see getSlaveAddress() - * @see MPU6050_RA_I2C_SLV4_ADDR - */ -uint8_t MPU6050::getSlave4Address() { - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer); - return buffer[0]; -} -/** Set the I2C address of Slave 4. - * @param address New address for Slave 4 - * @see getSlave4Address() - * @see MPU6050_RA_I2C_SLV4_ADDR - */ -void MPU6050::setSlave4Address(uint8_t address) { - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address); -} -/** Get the active internal register for the Slave 4. - * Read/write operations for this slave will be done to whatever internal - * register address is stored in this MPU register. - * - * @return Current active register for Slave 4 - * @see MPU6050_RA_I2C_SLV4_REG - */ -uint8_t MPU6050::getSlave4Register() { - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer); - return buffer[0]; -} -/** Set the active internal register for Slave 4. - * @param reg New active register for Slave 4 - * @see getSlave4Register() - * @see MPU6050_RA_I2C_SLV4_REG - */ -void MPU6050::setSlave4Register(uint8_t reg) { - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg); -} -/** Set new byte to write to Slave 4. - * This register stores the data to be written into the Slave 4. If I2C_SLV4_RW - * is set 1 (set to read), this register has no effect. - * @param data New byte to write to Slave 4 - * @see MPU6050_RA_I2C_SLV4_DO - */ -void MPU6050::setSlave4OutputByte(uint8_t data) { - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data); -} -/** Get the enabled value for the Slave 4. - * When set to 1, this bit enables Slave 4 for data transfer operations. When - * cleared to 0, this bit disables Slave 4 from data transfer operations. - * @return Current enabled value for Slave 4 - * @see MPU6050_RA_I2C_SLV4_CTRL - */ -bool MPU6050::getSlave4Enabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer); - return buffer[0]; -} -/** Set the enabled value for Slave 4. - * @param enabled New enabled value for Slave 4 - * @see getSlave4Enabled() - * @see MPU6050_RA_I2C_SLV4_CTRL - */ -void MPU6050::setSlave4Enabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled); -} -/** Get the enabled value for Slave 4 transaction interrupts. - * When set to 1, this bit enables the generation of an interrupt signal upon - * completion of a Slave 4 transaction. When cleared to 0, this bit disables the - * generation of an interrupt signal upon completion of a Slave 4 transaction. - * The interrupt status can be observed in Register 54. - * - * @return Current enabled value for Slave 4 transaction interrupts. - * @see MPU6050_RA_I2C_SLV4_CTRL - */ -bool MPU6050::getSlave4InterruptEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer); - return buffer[0]; -} -/** Set the enabled value for Slave 4 transaction interrupts. - * @param enabled New enabled value for Slave 4 transaction interrupts. - * @see getSlave4InterruptEnabled() - * @see MPU6050_RA_I2C_SLV4_CTRL - */ -void MPU6050::setSlave4InterruptEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled); -} -/** Get write mode for Slave 4. - * When set to 1, the transaction will read or write data only. When cleared to - * 0, the transaction will write a register address prior to reading or writing - * data. This should equal 0 when specifying the register address within the - * Slave device to/from which the ensuing data transaction will take place. - * - * @return Current write mode for Slave 4 (0 = register address + data, 1 = data only) - * @see MPU6050_RA_I2C_SLV4_CTRL - */ -bool MPU6050::getSlave4WriteMode() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer); - return buffer[0]; -} -/** Set write mode for the Slave 4. - * @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only) - * @see getSlave4WriteMode() - * @see MPU6050_RA_I2C_SLV4_CTRL - */ -void MPU6050::setSlave4WriteMode(bool mode) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode); -} -/** Get Slave 4 master delay value. - * This configures the reduced access rate of I2C slaves relative to the Sample - * Rate. When a slave's access rate is decreased relative to the Sample Rate, - * the slave is accessed every: - * - * 1 / (1 + I2C_MST_DLY) samples - * - * This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and - * DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to - * the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For - * further information regarding the Sample Rate, please refer to register 25. - * - * @return Current Slave 4 master delay value - * @see MPU6050_RA_I2C_SLV4_CTRL - */ -uint8_t MPU6050::getSlave4MasterDelay() { - I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer); - return buffer[0]; -} -/** Set Slave 4 master delay value. - * @param delay New Slave 4 master delay value - * @see getSlave4MasterDelay() - * @see MPU6050_RA_I2C_SLV4_CTRL - */ -void MPU6050::setSlave4MasterDelay(uint8_t delay) { - I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay); -} -/** Get last available byte read from Slave 4. - * This register stores the data read from Slave 4. This field is populated - * after a read transaction. - * @return Last available byte read from to Slave 4 - * @see MPU6050_RA_I2C_SLV4_DI - */ -uint8_t MPU6050::getSlate4InputByte() { - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer); - return buffer[0]; -} - -// I2C_MST_STATUS register - -/** Get FSYNC interrupt status. - * This bit reflects the status of the FSYNC interrupt from an external device - * into the MPU-60X0. This is used as a way to pass an external interrupt - * through the MPU-60X0 to the host application processor. When set to 1, this - * bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG - * (Register 55). - * @return FSYNC interrupt status - * @see MPU6050_RA_I2C_MST_STATUS - */ -bool MPU6050::getPassthroughStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer); - return buffer[0]; -} -/** Get Slave 4 transaction done status. - * Automatically sets to 1 when a Slave 4 transaction has completed. This - * triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register - * (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the - * I2C_SLV4_CTRL register (Register 52). - * @return Slave 4 transaction done status - * @see MPU6050_RA_I2C_MST_STATUS - */ -bool MPU6050::getSlave4IsDone() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer); - return buffer[0]; -} -/** Get master arbitration lost status. - * This bit automatically sets to 1 when the I2C Master has lost arbitration of - * the auxiliary I2C bus (an error condition). This triggers an interrupt if the - * I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted. - * @return Master arbitration lost status - * @see MPU6050_RA_I2C_MST_STATUS - */ -bool MPU6050::getLostArbitration() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer); - return buffer[0]; -} -/** Get Slave 4 NACK status. - * This bit automatically sets to 1 when the I2C Master receives a NACK in a - * transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN - * bit in the INT_ENABLE register (Register 56) is asserted. - * @return Slave 4 NACK interrupt status - * @see MPU6050_RA_I2C_MST_STATUS - */ -bool MPU6050::getSlave4Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer); - return buffer[0]; -} -/** Get Slave 3 NACK status. - * This bit automatically sets to 1 when the I2C Master receives a NACK in a - * transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN - * bit in the INT_ENABLE register (Register 56) is asserted. - * @return Slave 3 NACK interrupt status - * @see MPU6050_RA_I2C_MST_STATUS - */ -bool MPU6050::getSlave3Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer); - return buffer[0]; -} -/** Get Slave 2 NACK status. - * This bit automatically sets to 1 when the I2C Master receives a NACK in a - * transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN - * bit in the INT_ENABLE register (Register 56) is asserted. - * @return Slave 2 NACK interrupt status - * @see MPU6050_RA_I2C_MST_STATUS - */ -bool MPU6050::getSlave2Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer); - return buffer[0]; -} -/** Get Slave 1 NACK status. - * This bit automatically sets to 1 when the I2C Master receives a NACK in a - * transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN - * bit in the INT_ENABLE register (Register 56) is asserted. - * @return Slave 1 NACK interrupt status - * @see MPU6050_RA_I2C_MST_STATUS - */ -bool MPU6050::getSlave1Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer); - return buffer[0]; -} -/** Get Slave 0 NACK status. - * This bit automatically sets to 1 when the I2C Master receives a NACK in a - * transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN - * bit in the INT_ENABLE register (Register 56) is asserted. - * @return Slave 0 NACK interrupt status - * @see MPU6050_RA_I2C_MST_STATUS - */ -bool MPU6050::getSlave0Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer); - return buffer[0]; -} - -// INT_PIN_CFG register - -/** Get interrupt logic level mode. - * Will be set 0 for active-high, 1 for active-low. - * @return Current interrupt mode (0=active-high, 1=active-low) - * @see MPU6050_RA_INT_PIN_CFG - * @see MPU6050_INTCFG_INT_LEVEL_BIT - */ -bool MPU6050::getInterruptMode() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer); - return buffer[0]; -} -/** Set interrupt logic level mode. - * @param mode New interrupt mode (0=active-high, 1=active-low) - * @see getInterruptMode() - * @see MPU6050_RA_INT_PIN_CFG - * @see MPU6050_INTCFG_INT_LEVEL_BIT - */ -void MPU6050::setInterruptMode(bool mode) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode); -} -/** Get interrupt drive mode. - * Will be set 0 for push-pull, 1 for open-drain. - * @return Current interrupt drive mode (0=push-pull, 1=open-drain) - * @see MPU6050_RA_INT_PIN_CFG - * @see MPU6050_INTCFG_INT_OPEN_BIT - */ -bool MPU6050::getInterruptDrive() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer); - return buffer[0]; -} -/** Set interrupt drive mode. - * @param drive New interrupt drive mode (0=push-pull, 1=open-drain) - * @see getInterruptDrive() - * @see MPU6050_RA_INT_PIN_CFG - * @see MPU6050_INTCFG_INT_OPEN_BIT - */ -void MPU6050::setInterruptDrive(bool drive) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive); -} -/** Get interrupt latch mode. - * Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared. - * @return Current latch mode (0=50us-pulse, 1=latch-until-int-cleared) - * @see MPU6050_RA_INT_PIN_CFG - * @see MPU6050_INTCFG_LATCH_INT_EN_BIT - */ -bool MPU6050::getInterruptLatch() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer); - return buffer[0]; -} -/** Set interrupt latch mode. - * @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared) - * @see getInterruptLatch() - * @see MPU6050_RA_INT_PIN_CFG - * @see MPU6050_INTCFG_LATCH_INT_EN_BIT - */ -void MPU6050::setInterruptLatch(bool latch) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch); -} -/** Get interrupt latch clear mode. - * Will be set 0 for status-read-only, 1 for any-register-read. - * @return Current latch clear mode (0=status-read-only, 1=any-register-read) - * @see MPU6050_RA_INT_PIN_CFG - * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT - */ -bool MPU6050::getInterruptLatchClear() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer); - return buffer[0]; -} -/** Set interrupt latch clear mode. - * @param clear New latch clear mode (0=status-read-only, 1=any-register-read) - * @see getInterruptLatchClear() - * @see MPU6050_RA_INT_PIN_CFG - * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT - */ -void MPU6050::setInterruptLatchClear(bool clear) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear); -} -/** Get FSYNC interrupt logic level mode. - * @return Current FSYNC interrupt mode (0=active-high, 1=active-low) - * @see getFSyncInterruptMode() - * @see MPU6050_RA_INT_PIN_CFG - * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT - */ -bool MPU6050::getFSyncInterruptLevel() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer); - return buffer[0]; -} -/** Set FSYNC interrupt logic level mode. - * @param mode New FSYNC interrupt mode (0=active-high, 1=active-low) - * @see getFSyncInterruptMode() - * @see MPU6050_RA_INT_PIN_CFG - * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT - */ -void MPU6050::setFSyncInterruptLevel(bool level) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level); -} -/** Get FSYNC pin interrupt enabled setting. - * Will be set 0 for disabled, 1 for enabled. - * @return Current interrupt enabled setting - * @see MPU6050_RA_INT_PIN_CFG - * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT - */ -bool MPU6050::getFSyncInterruptEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer); - return buffer[0]; -} -/** Set FSYNC pin interrupt enabled setting. - * @param enabled New FSYNC pin interrupt enabled setting - * @see getFSyncInterruptEnabled() - * @see MPU6050_RA_INT_PIN_CFG - * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT - */ -void MPU6050::setFSyncInterruptEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled); -} -/** Get I2C bypass enabled status. - * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to - * 0, the host application processor will be able to directly access the - * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host - * application processor will not be able to directly access the auxiliary I2C - * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106 - * bit[5]). - * @return Current I2C bypass enabled status - * @see MPU6050_RA_INT_PIN_CFG - * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT - */ -bool MPU6050::getI2CBypassEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer); - return buffer[0]; -} -/** Set I2C bypass enabled status. - * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to - * 0, the host application processor will be able to directly access the - * auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host - * application processor will not be able to directly access the auxiliary I2C - * bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106 - * bit[5]). - * @param enabled New I2C bypass enabled status - * @see MPU6050_RA_INT_PIN_CFG - * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT - */ -void MPU6050::setI2CBypassEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled); -} -/** Get reference clock output enabled status. - * When this bit is equal to 1, a reference clock output is provided at the - * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For - * further information regarding CLKOUT, please refer to the MPU-60X0 Product - * Specification document. - * @return Current reference clock output enabled status - * @see MPU6050_RA_INT_PIN_CFG - * @see MPU6050_INTCFG_CLKOUT_EN_BIT - */ -bool MPU6050::getClockOutputEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer); - return buffer[0]; -} -/** Set reference clock output enabled status. - * When this bit is equal to 1, a reference clock output is provided at the - * CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For - * further information regarding CLKOUT, please refer to the MPU-60X0 Product - * Specification document. - * @param enabled New reference clock output enabled status - * @see MPU6050_RA_INT_PIN_CFG - * @see MPU6050_INTCFG_CLKOUT_EN_BIT - */ -void MPU6050::setClockOutputEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled); -} - -// INT_ENABLE register - -/** Get full interrupt enabled status. - * Full register byte for all interrupts, for quick reading. Each bit will be - * set 0 for disabled, 1 for enabled. - * @return Current interrupt enabled status - * @see MPU6050_RA_INT_ENABLE - * @see MPU6050_INTERRUPT_FF_BIT - **/ -uint8_t MPU6050::getIntEnabled() { - I2Cdev::readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer); - return buffer[0]; -} -/** Set full interrupt enabled status. - * Full register byte for all interrupts, for quick reading. Each bit should be - * set 0 for disabled, 1 for enabled. - * @param enabled New interrupt enabled status - * @see getIntFreefallEnabled() - * @see MPU6050_RA_INT_ENABLE - * @see MPU6050_INTERRUPT_FF_BIT - **/ -void MPU6050::setIntEnabled(uint8_t enabled) { - I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled); -} -/** Get Free Fall interrupt enabled status. - * Will be set 0 for disabled, 1 for enabled. - * @return Current interrupt enabled status - * @see MPU6050_RA_INT_ENABLE - * @see MPU6050_INTERRUPT_FF_BIT - **/ -bool MPU6050::getIntFreefallEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer); - return buffer[0]; -} -/** Set Free Fall interrupt enabled status. - * @param enabled New interrupt enabled status - * @see getIntFreefallEnabled() - * @see MPU6050_RA_INT_ENABLE - * @see MPU6050_INTERRUPT_FF_BIT - **/ -void MPU6050::setIntFreefallEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled); -} -/** Get Motion Detection interrupt enabled status. - * Will be set 0 for disabled, 1 for enabled. - * @return Current interrupt enabled status - * @see MPU6050_RA_INT_ENABLE - * @see MPU6050_INTERRUPT_MOT_BIT - **/ -bool MPU6050::getIntMotionEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer); - return buffer[0]; -} -/** Set Motion Detection interrupt enabled status. - * @param enabled New interrupt enabled status - * @see getIntMotionEnabled() - * @see MPU6050_RA_INT_ENABLE - * @see MPU6050_INTERRUPT_MOT_BIT - **/ -void MPU6050::setIntMotionEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled); -} -/** Get Zero Motion Detection interrupt enabled status. - * Will be set 0 for disabled, 1 for enabled. - * @return Current interrupt enabled status - * @see MPU6050_RA_INT_ENABLE - * @see MPU6050_INTERRUPT_ZMOT_BIT - **/ -bool MPU6050::getIntZeroMotionEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer); - return buffer[0]; -} -/** Set Zero Motion Detection interrupt enabled status. - * @param enabled New interrupt enabled status - * @see getIntZeroMotionEnabled() - * @see MPU6050_RA_INT_ENABLE - * @see MPU6050_INTERRUPT_ZMOT_BIT - **/ -void MPU6050::setIntZeroMotionEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled); -} -/** Get FIFO Buffer Overflow interrupt enabled status. - * Will be set 0 for disabled, 1 for enabled. - * @return Current interrupt enabled status - * @see MPU6050_RA_INT_ENABLE - * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT - **/ -bool MPU6050::getIntFIFOBufferOverflowEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer); - return buffer[0]; -} -/** Set FIFO Buffer Overflow interrupt enabled status. - * @param enabled New interrupt enabled status - * @see getIntFIFOBufferOverflowEnabled() - * @see MPU6050_RA_INT_ENABLE - * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT - **/ -void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled); -} -/** Get I2C Master interrupt enabled status. - * This enables any of the I2C Master interrupt sources to generate an - * interrupt. Will be set 0 for disabled, 1 for enabled. - * @return Current interrupt enabled status - * @see MPU6050_RA_INT_ENABLE - * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT - **/ -bool MPU6050::getIntI2CMasterEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer); - return buffer[0]; -} -/** Set I2C Master interrupt enabled status. - * @param enabled New interrupt enabled status - * @see getIntI2CMasterEnabled() - * @see MPU6050_RA_INT_ENABLE - * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT - **/ -void MPU6050::setIntI2CMasterEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled); -} -/** Get Data Ready interrupt enabled setting. - * This event occurs each time a write operation to all of the sensor registers - * has been completed. Will be set 0 for disabled, 1 for enabled. - * @return Current interrupt enabled status - * @see MPU6050_RA_INT_ENABLE - * @see MPU6050_INTERRUPT_DATA_RDY_BIT - */ -bool MPU6050::getIntDataReadyEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer); - return buffer[0]; -} -/** Set Data Ready interrupt enabled status. - * @param enabled New interrupt enabled status - * @see getIntDataReadyEnabled() - * @see MPU6050_RA_INT_CFG - * @see MPU6050_INTERRUPT_DATA_RDY_BIT - */ -void MPU6050::setIntDataReadyEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled); -} - -// INT_STATUS register - -/** Get full set of interrupt status bits. - * These bits clear to 0 after the register has been read. Very useful - * for getting multiple INT statuses, since each single bit read clears - * all of them because it has to read the whole byte. - * @return Current interrupt status - * @see MPU6050_RA_INT_STATUS - */ -uint8_t MPU6050::getIntStatus() { - I2Cdev::readByte(devAddr, MPU6050_RA_INT_STATUS, buffer); - return buffer[0]; -} -/** Get Free Fall interrupt status. - * This bit automatically sets to 1 when a Free Fall interrupt has been - * generated. The bit clears to 0 after the register has been read. - * @return Current interrupt status - * @see MPU6050_RA_INT_STATUS - * @see MPU6050_INTERRUPT_FF_BIT - */ -bool MPU6050::getIntFreefallStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer); - return buffer[0]; -} -/** Get Motion Detection interrupt status. - * This bit automatically sets to 1 when a Motion Detection interrupt has been - * generated. The bit clears to 0 after the register has been read. - * @return Current interrupt status - * @see MPU6050_RA_INT_STATUS - * @see MPU6050_INTERRUPT_MOT_BIT - */ -bool MPU6050::getIntMotionStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer); - return buffer[0]; -} -/** Get Zero Motion Detection interrupt status. - * This bit automatically sets to 1 when a Zero Motion Detection interrupt has - * been generated. The bit clears to 0 after the register has been read. - * @return Current interrupt status - * @see MPU6050_RA_INT_STATUS - * @see MPU6050_INTERRUPT_ZMOT_BIT - */ -bool MPU6050::getIntZeroMotionStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer); - return buffer[0]; -} -/** Get FIFO Buffer Overflow interrupt status. - * This bit automatically sets to 1 when a Free Fall interrupt has been - * generated. The bit clears to 0 after the register has been read. - * @return Current interrupt status - * @see MPU6050_RA_INT_STATUS - * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT - */ -bool MPU6050::getIntFIFOBufferOverflowStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer); - return buffer[0]; -} -/** Get I2C Master interrupt status. - * This bit automatically sets to 1 when an I2C Master interrupt has been - * generated. For a list of I2C Master interrupts, please refer to Register 54. - * The bit clears to 0 after the register has been read. - * @return Current interrupt status - * @see MPU6050_RA_INT_STATUS - * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT - */ -bool MPU6050::getIntI2CMasterStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer); - return buffer[0]; -} -/** Get Data Ready interrupt status. - * This bit automatically sets to 1 when a Data Ready interrupt has been - * generated. The bit clears to 0 after the register has been read. - * @return Current interrupt status - * @see MPU6050_RA_INT_STATUS - * @see MPU6050_INTERRUPT_DATA_RDY_BIT - */ -bool MPU6050::getIntDataReadyStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer); - return buffer[0]; -} - -// ACCEL_*OUT_* registers - -/** Get raw 9-axis motion sensor readings (accel/gyro/compass). - * FUNCTION NOT FULLY IMPLEMENTED YET. - * @param ax 16-bit signed integer container for accelerometer X-axis value - * @param ay 16-bit signed integer container for accelerometer Y-axis value - * @param az 16-bit signed integer container for accelerometer Z-axis value - * @param gx 16-bit signed integer container for gyroscope X-axis value - * @param gy 16-bit signed integer container for gyroscope Y-axis value - * @param gz 16-bit signed integer container for gyroscope Z-axis value - * @param mx 16-bit signed integer container for magnetometer X-axis value - * @param my 16-bit signed integer container for magnetometer Y-axis value - * @param mz 16-bit signed integer container for magnetometer Z-axis value - * @see getMotion6() - * @see getAcceleration() - * @see getRotation() - * @see MPU6050_RA_ACCEL_XOUT_H - */ -void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz) { - 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 X-axis negative motion detection interrupt status. - * @return Motion detection status - * @see MPU6050_RA_MOT_DETECT_STATUS - * @see MPU6050_MOTION_MOT_XNEG_BIT - */ -bool MPU6050::getXNegMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer); - return buffer[0]; -} -/** Get X-axis positive motion detection interrupt status. - * @return Motion detection status - * @see MPU6050_RA_MOT_DETECT_STATUS - * @see MPU6050_MOTION_MOT_XPOS_BIT - */ -bool MPU6050::getXPosMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer); - return buffer[0]; -} -/** Get Y-axis negative motion detection interrupt status. - * @return Motion detection status - * @see MPU6050_RA_MOT_DETECT_STATUS - * @see MPU6050_MOTION_MOT_YNEG_BIT - */ -bool MPU6050::getYNegMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer); - return buffer[0]; -} -/** Get Y-axis positive motion detection interrupt status. - * @return Motion detection status - * @see MPU6050_RA_MOT_DETECT_STATUS - * @see MPU6050_MOTION_MOT_YPOS_BIT - */ -bool MPU6050::getYPosMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer); - return buffer[0]; -} -/** Get Z-axis negative motion detection interrupt status. - * @return Motion detection status - * @see MPU6050_RA_MOT_DETECT_STATUS - * @see MPU6050_MOTION_MOT_ZNEG_BIT - */ -bool MPU6050::getZNegMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer); - return buffer[0]; -} -/** Get Z-axis positive motion detection interrupt status. - * @return Motion detection status - * @see MPU6050_RA_MOT_DETECT_STATUS - * @see MPU6050_MOTION_MOT_ZPOS_BIT - */ -bool MPU6050::getZPosMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer); - return buffer[0]; -} -/** Get zero motion detection interrupt status. - * @return Motion detection status - * @see MPU6050_RA_MOT_DETECT_STATUS - * @see MPU6050_MOTION_MOT_ZRMOT_BIT - */ -bool MPU6050::getZeroMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer); - return buffer[0]; -} - -// I2C_SLV*_DO register - -/** Write byte to Data Output container for specified slave. - * This register holds the output data written into Slave when Slave is set to - * write mode. For further information regarding Slave control, please - * refer to Registers 37 to 39 and immediately following. - * @param num Slave number (0-3) - * @param data Byte to write - * @see MPU6050_RA_I2C_SLV0_DO - */ -void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data) { - if (num > 3) return; - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data); -} - -// I2C_MST_DELAY_CTRL register - -/** Get external data shadow delay enabled status. - * This register is used to specify the timing of external sensor data - * shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external - * sensor data is delayed until all data has been received. - * @return Current external data shadow delay enabled status. - * @see MPU6050_RA_I2C_MST_DELAY_CTRL - * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT - */ -bool MPU6050::getExternalShadowDelayEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer); - return buffer[0]; -} -/** Set external data shadow delay enabled status. - * @param enabled New external data shadow delay enabled status. - * @see getExternalShadowDelayEnabled() - * @see MPU6050_RA_I2C_MST_DELAY_CTRL - * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT - */ -void MPU6050::setExternalShadowDelayEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled); -} -/** Get slave delay enabled status. - * When a particular slave delay is enabled, the rate of access for the that - * slave device is reduced. When a slave's access rate is decreased relative to - * the Sample Rate, the slave is accessed every: - * - * 1 / (1 + I2C_MST_DLY) Samples - * - * This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25) - * and DLPF_CFG (register 26). - * - * For further information regarding I2C_MST_DLY, please refer to register 52. - * For further information regarding the Sample Rate, please refer to register 25. - * - * @param num Slave number (0-4) - * @return Current slave delay enabled status. - * @see MPU6050_RA_I2C_MST_DELAY_CTRL - * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT - */ -bool MPU6050::getSlaveDelayEnabled(uint8_t num) { - // MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc. - if (num > 4) return 0; - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer); - return buffer[0]; -} -/** Set slave delay enabled status. - * @param num Slave number (0-4) - * @param enabled New slave delay enabled status. - * @see MPU6050_RA_I2C_MST_DELAY_CTRL - * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT - */ -void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled); -} - -// SIGNAL_PATH_RESET register - -/** Reset gyroscope signal path. - * The reset will revert the signal path analog to digital converters and - * filters to their power up configurations. - * @see MPU6050_RA_SIGNAL_PATH_RESET - * @see MPU6050_PATHRESET_GYRO_RESET_BIT - */ -void MPU6050::resetGyroscopePath() { - I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true); -} -/** Reset accelerometer signal path. - * The reset will revert the signal path analog to digital converters and - * filters to their power up configurations. - * @see MPU6050_RA_SIGNAL_PATH_RESET - * @see MPU6050_PATHRESET_ACCEL_RESET_BIT - */ -void MPU6050::resetAccelerometerPath() { - I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true); -} -/** Reset temperature sensor signal path. - * The reset will revert the signal path analog to digital converters and - * filters to their power up configurations. - * @see MPU6050_RA_SIGNAL_PATH_RESET - * @see MPU6050_PATHRESET_TEMP_RESET_BIT - */ -void MPU6050::resetTemperaturePath() { - I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true); -} - -// MOT_DETECT_CTRL register - -/** Get accelerometer power-on delay. - * The accelerometer data path provides samples to the sensor registers, Motion - * detection, Zero Motion detection, and Free Fall detection modules. The - * signal path contains filters which must be flushed on wake-up with new - * samples before the detection modules begin operations. The default wake-up - * delay, of 4ms can be lengthened by up to 3ms. This additional delay is - * specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select - * any value above zero unless instructed otherwise by InvenSense. Please refer - * to Section 8 of the MPU-6000/MPU-6050 Product Specification document for - * further information regarding the detection modules. - * @return Current accelerometer power-on delay - * @see MPU6050_RA_MOT_DETECT_CTRL - * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT - */ -uint8_t MPU6050::getAccelerometerPowerOnDelay() { - I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer); - return buffer[0]; -} -/** Set accelerometer power-on delay. - * @param delay New accelerometer power-on delay (0-3) - * @see getAccelerometerPowerOnDelay() - * @see MPU6050_RA_MOT_DETECT_CTRL - * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT - */ -void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay) { - I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay); -} -/** Get Free Fall detection counter decrement configuration. - * Detection is registered by the Free Fall detection module after accelerometer - * measurements meet their respective threshold conditions over a specified - * number of samples. When the threshold conditions are met, the corresponding - * detection counter increments by 1. The user may control the rate at which the - * detection counter decrements when the threshold condition is not met by - * configuring FF_COUNT. The decrement rate can be set according to the - * following table: - * - * 
- * FF_COUNT | Counter Decrement
- * ---------+------------------
- * 0        | Reset
- * 1        | 1
- * 2        | 2
- * 3        | 4
- *
- * - * When FF_COUNT is configured to 0 (reset), any non-qualifying sample will - * reset the counter to 0. For further information on Free Fall detection, - * please refer to Registers 29 to 32. - * - * @return Current decrement configuration - * @see MPU6050_RA_MOT_DETECT_CTRL - * @see MPU6050_DETECT_FF_COUNT_BIT - */ -uint8_t MPU6050::getFreefallDetectionCounterDecrement() { - I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer); - return buffer[0]; -} -/** Set Free Fall detection counter decrement configuration. - * @param decrement New decrement configuration value - * @see getFreefallDetectionCounterDecrement() - * @see MPU6050_RA_MOT_DETECT_CTRL - * @see MPU6050_DETECT_FF_COUNT_BIT - */ -void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement) { - I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement); -} -/** Get Motion detection counter decrement configuration. - * Detection is registered by the Motion detection module after accelerometer - * measurements meet their respective threshold conditions over a specified - * number of samples. When the threshold conditions are met, the corresponding - * detection counter increments by 1. The user may control the rate at which the - * detection counter decrements when the threshold condition is not met by - * configuring MOT_COUNT. The decrement rate can be set according to the - * following table: - * - * 
- * MOT_COUNT | Counter Decrement
- * ----------+------------------
- * 0         | Reset
- * 1         | 1
- * 2         | 2
- * 3         | 4
- *
- * - * When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will - * reset the counter to 0. For further information on Motion detection, - * please refer to Registers 29 to 32. - * - */ -uint8_t MPU6050::getMotionDetectionCounterDecrement() { - I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer); - return buffer[0]; -} -/** Set Motion detection counter decrement configuration. - * @param decrement New decrement configuration value - * @see getMotionDetectionCounterDecrement() - * @see MPU6050_RA_MOT_DETECT_CTRL - * @see MPU6050_DETECT_MOT_COUNT_BIT - */ -void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement) { - I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement); -} - -// USER_CTRL register - -/** Get FIFO enabled status. - * When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer - * cannot be written to or read from while disabled. The FIFO buffer's state - * does not change unless the MPU-60X0 is power cycled. - * @return Current FIFO enabled status - * @see MPU6050_RA_USER_CTRL - * @see MPU6050_USERCTRL_FIFO_EN_BIT - */ -bool MPU6050::getFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer); - return buffer[0]; -} -/** Set FIFO enabled status. - * @param enabled New FIFO enabled status - * @see getFIFOEnabled() - * @see MPU6050_RA_USER_CTRL - * @see MPU6050_USERCTRL_FIFO_EN_BIT - */ -void MPU6050::setFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled); -} -/** Get I2C Master Mode enabled status. - * When this mode is enabled, the MPU-60X0 acts as the I2C Master to the - * external sensor slave devices on the auxiliary I2C bus. When this bit is - * cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically - * driven by the primary I2C bus (SDA and SCL). This is a precondition to - * enabling Bypass Mode. For further information regarding Bypass Mode, please - * refer to Register 55. - * @return Current I2C Master Mode enabled status - * @see MPU6050_RA_USER_CTRL - * @see MPU6050_USERCTRL_I2C_MST_EN_BIT - */ -bool MPU6050::getI2CMasterModeEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer); - return buffer[0]; -} -/** Set I2C Master Mode enabled status. - * @param enabled New I2C Master Mode enabled status - * @see getI2CMasterModeEnabled() - * @see MPU6050_RA_USER_CTRL - * @see MPU6050_USERCTRL_I2C_MST_EN_BIT - */ -void MPU6050::setI2CMasterModeEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled); -} -/** Switch from I2C to SPI mode (MPU-6000 only) - * If this is set, the primary SPI interface will be enabled in place of the - * disabled primary I2C interface. - */ -void MPU6050::switchSPIEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled); -} -/** Reset the FIFO. - * This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This - * bit automatically clears to 0 after the reset has been triggered. - * @see MPU6050_RA_USER_CTRL - * @see MPU6050_USERCTRL_FIFO_RESET_BIT - */ -void MPU6050::resetFIFO() { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true); -} -/** Reset the I2C Master. - * This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0. - * This bit automatically clears to 0 after the reset has been triggered. - * @see MPU6050_RA_USER_CTRL - * @see MPU6050_USERCTRL_I2C_MST_RESET_BIT - */ -void MPU6050::resetI2CMaster() { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true); -} -/** Reset all sensor registers and signal paths. - * When set to 1, this bit resets the signal paths for all sensors (gyroscopes, - * accelerometers, and temperature sensor). This operation will also clear the - * sensor registers. This bit automatically clears to 0 after the reset has been - * triggered. - * - * When resetting only the signal path (and not the sensor registers), please - * use Register 104, SIGNAL_PATH_RESET. - * - * @see MPU6050_RA_USER_CTRL - * @see MPU6050_USERCTRL_SIG_COND_RESET_BIT - */ -void MPU6050::resetSensors() { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true); -} - -// PWR_MGMT_1 register - -/** Trigger a full device reset. - * A small delay of ~50ms may be desirable after triggering a reset. - * @see MPU6050_RA_PWR_MGMT_1 - * @see MPU6050_PWR1_DEVICE_RESET_BIT - */ -void MPU6050::reset() { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true); -} -/** Get sleep mode status. - * Setting the SLEEP bit in the register puts the device into very low power - * sleep mode. In this mode, only the serial interface and internal registers - * remain active, allowing for a very low standby current. Clearing this bit - * puts the device back into normal mode. To save power, the individual standby - * selections for each of the gyros should be used if any gyro axis is not used - * by the application. - * @return Current sleep mode enabled status - * @see MPU6050_RA_PWR_MGMT_1 - * @see MPU6050_PWR1_SLEEP_BIT - */ -bool MPU6050::getSleepEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer); - return buffer[0]; -} -/** Set sleep mode status. - * @param enabled New sleep mode enabled status - * @see getSleepEnabled() - * @see MPU6050_RA_PWR_MGMT_1 - * @see MPU6050_PWR1_SLEEP_BIT - */ -void MPU6050::setSleepEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled); -} -/** Get wake cycle enabled status. - * When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle - * between sleep mode and waking up to take a single sample of data from active - * sensors at a rate determined by LP_WAKE_CTRL (register 108). - * @return Current sleep mode enabled status - * @see MPU6050_RA_PWR_MGMT_1 - * @see MPU6050_PWR1_CYCLE_BIT - */ -bool MPU6050::getWakeCycleEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer); - return buffer[0]; -} -/** Set wake cycle enabled status. - * @param enabled New sleep mode enabled status - * @see getWakeCycleEnabled() - * @see MPU6050_RA_PWR_MGMT_1 - * @see MPU6050_PWR1_CYCLE_BIT - */ -void MPU6050::setWakeCycleEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled); -} -/** Get temperature sensor enabled status. - * Control the usage of the internal temperature sensor. - * - * Note: this register stores the *disabled* value, but for consistency with the - * rest of the code, the function is named and used with standard true/false - * values to indicate whether the sensor is enabled or disabled, respectively. - * - * @return Current temperature sensor enabled status - * @see MPU6050_RA_PWR_MGMT_1 - * @see MPU6050_PWR1_TEMP_DIS_BIT - */ -bool MPU6050::getTempSensorEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer); - return buffer[0] == 0; // 1 is actually disabled here -} -/** Set temperature sensor enabled status. - * Note: this register stores the *disabled* value, but for consistency with the - * rest of the code, the function is named and used with standard true/false - * values to indicate whether the sensor is enabled or disabled, respectively. - * - * @param enabled New temperature sensor enabled status - * @see getTempSensorEnabled() - * @see MPU6050_RA_PWR_MGMT_1 - * @see MPU6050_PWR1_TEMP_DIS_BIT - */ -void MPU6050::setTempSensorEnabled(bool enabled) { - // 1 is actually disabled here - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled); -} -/** Get clock source setting. - * @return Current clock source setting - * @see MPU6050_RA_PWR_MGMT_1 - * @see MPU6050_PWR1_CLKSEL_BIT - * @see MPU6050_PWR1_CLKSEL_LENGTH - */ -uint8_t MPU6050::getClockSource() { - I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer); - return buffer[0]; -} -/** Set clock source setting. - * An internal 8MHz oscillator, gyroscope based clock, or external sources can - * be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator - * or an external source is chosen as the clock source, the MPU-60X0 can operate - * in low power modes with the gyroscopes disabled. - * - * Upon power up, the MPU-60X0 clock source defaults to the internal oscillator. - * However, it is highly recommended that the device be configured to use one of - * the gyroscopes (or an external clock source) as the clock reference for - * improved stability. The clock source can be selected according to the following table: - * - * 
- * CLK_SEL | Clock Source
- * --------+--------------------------------------
- * 0       | Internal oscillator
- * 1       | PLL with X Gyro reference
- * 2       | PLL with Y Gyro reference
- * 3       | PLL with Z Gyro reference
- * 4       | PLL with external 32.768kHz reference
- * 5       | PLL with external 19.2MHz reference
- * 6       | Reserved
- * 7       | Stops the clock and keeps the timing generator in reset
- *
- * - * @param source New clock source setting - * @see getClockSource() - * @see MPU6050_RA_PWR_MGMT_1 - * @see MPU6050_PWR1_CLKSEL_BIT - * @see MPU6050_PWR1_CLKSEL_LENGTH - */ -void MPU6050::setClockSource(uint8_t source) { - I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source); -} - -// PWR_MGMT_2 register - -/** Get wake frequency in Accel-Only Low Power Mode. - * The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting - * PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode, - * the device will power off all devices except for the primary I2C interface, - * waking only the accelerometer at fixed intervals to take a single - * measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL - * as shown below: - * - * 
- * LP_WAKE_CTRL | Wake-up Frequency
- * -------------+------------------
- * 0            | 1.25 Hz
- * 1            | 2.5 Hz
- * 2            | 5 Hz
- * 3            | 10 Hz
- * 
- *
- * For further information regarding the MPU-60X0's power modes, please refer to
- * Register 107.
- *
- * @return Current wake frequency
- * @see MPU6050_RA_PWR_MGMT_2
- */
-uint8_t MPU6050::getWakeFrequency() {
-    I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
-    return buffer[0];
-}
-/** Set wake frequency in Accel-Only Low Power Mode.
- * @param frequency New wake frequency
- * @see MPU6050_RA_PWR_MGMT_2
- */
-void MPU6050::setWakeFrequency(uint8_t frequency) {
-    I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
-}
-
-/** Get X-axis accelerometer standby enabled status.
- * If enabled, the X-axis will not gather or report data (or use power).
- * @return Current X-axis standby enabled status
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_XA_BIT
- */
-bool MPU6050::getStandbyXAccelEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
-    return buffer[0];
-}
-/** Set X-axis accelerometer standby enabled status.
- * @param New X-axis standby enabled status
- * @see getStandbyXAccelEnabled()
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_XA_BIT
- */
-void MPU6050::setStandbyXAccelEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
-}
-/** Get Y-axis accelerometer standby enabled status.
- * If enabled, the Y-axis will not gather or report data (or use power).
- * @return Current Y-axis standby enabled status
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_YA_BIT
- */
-bool MPU6050::getStandbyYAccelEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
-    return buffer[0];
-}
-/** Set Y-axis accelerometer standby enabled status.
- * @param New Y-axis standby enabled status
- * @see getStandbyYAccelEnabled()
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_YA_BIT
- */
-void MPU6050::setStandbyYAccelEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
-}
-/** Get Z-axis accelerometer standby enabled status.
- * If enabled, the Z-axis will not gather or report data (or use power).
- * @return Current Z-axis standby enabled status
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_ZA_BIT
- */
-bool MPU6050::getStandbyZAccelEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
-    return buffer[0];
-}
-/** Set Z-axis accelerometer standby enabled status.
- * @param New Z-axis standby enabled status
- * @see getStandbyZAccelEnabled()
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_ZA_BIT
- */
-void MPU6050::setStandbyZAccelEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
-}
-/** Get X-axis gyroscope standby enabled status.
- * If enabled, the X-axis will not gather or report data (or use power).
- * @return Current X-axis standby enabled status
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_XG_BIT
- */
-bool MPU6050::getStandbyXGyroEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
-    return buffer[0];
-}
-/** Set X-axis gyroscope standby enabled status.
- * @param New X-axis standby enabled status
- * @see getStandbyXGyroEnabled()
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_XG_BIT
- */
-void MPU6050::setStandbyXGyroEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
-}
-/** Get Y-axis gyroscope standby enabled status.
- * If enabled, the Y-axis will not gather or report data (or use power).
- * @return Current Y-axis standby enabled status
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_YG_BIT
- */
-bool MPU6050::getStandbyYGyroEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
-    return buffer[0];
-}
-/** Set Y-axis gyroscope standby enabled status.
- * @param New Y-axis standby enabled status
- * @see getStandbyYGyroEnabled()
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_YG_BIT
- */
-void MPU6050::setStandbyYGyroEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
-}
-/** Get Z-axis gyroscope standby enabled status.
- * If enabled, the Z-axis will not gather or report data (or use power).
- * @return Current Z-axis standby enabled status
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_ZG_BIT
- */
-bool MPU6050::getStandbyZGyroEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
-    return buffer[0];
-}
-/** Set Z-axis gyroscope standby enabled status.
- * @param New Z-axis standby enabled status
- * @see getStandbyZGyroEnabled()
- * @see MPU6050_RA_PWR_MGMT_2
- * @see MPU6050_PWR2_STBY_ZG_BIT
- */
-void MPU6050::setStandbyZGyroEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
-}
-
-// FIFO_COUNT* registers
-
-/** Get current FIFO buffer size.
- * This value indicates the number of bytes stored in the FIFO buffer. This
- * number is in turn the number of bytes that can be read from the FIFO buffer
- * and it is directly proportional to the number of samples available given the
- * set of sensor data bound to be stored in the FIFO (register 35 and 36).
- * @return Current FIFO buffer size
- */
-uint16_t MPU6050::getFIFOCount() {
-    I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
-    return (((uint16_t)buffer[0]) << 8) | buffer[1];
-}
-
-// FIFO_R_W register
-
-/** Get byte from FIFO buffer.
- * This register is used to read and write data from the FIFO buffer. Data is
- * written to the FIFO in order of register number (from lowest to highest). If
- * all the FIFO enable flags (see below) are enabled and all External Sensor
- * Data registers (Registers 73 to 96) are associated with a Slave device, the
- * contents of registers 59 through 96 will be written in order at the Sample
- * Rate.
- *
- * The contents of the sensor data registers (Registers 59 to 96) are written
- * into the FIFO buffer when their corresponding FIFO enable flags are set to 1
- * in FIFO_EN (Register 35). An additional flag for the sensor data registers
- * associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
- *
- * If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
- * automatically set to 1. This bit is located in INT_STATUS (Register 58).
- * When the FIFO buffer has overflowed, the oldest data will be lost and new
- * data will be written to the FIFO.
- *
- * If the FIFO buffer is empty, reading this register will return the last byte
- * that was previously read from the FIFO until new data is available. The user
- * should check FIFO_COUNT to ensure that the FIFO buffer is not read when
- * empty.
- *
- * @return Byte from FIFO buffer
- */
-uint8_t MPU6050::getFIFOByte() {
-    I2Cdev::readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer);
-    return buffer[0];
-}
-void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) {
-    I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
-}
-/** Write byte to FIFO buffer.
- * @see getFIFOByte()
- * @see MPU6050_RA_FIFO_R_W
- */
-void MPU6050::setFIFOByte(uint8_t data) {
-    I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
-}
-
-// WHO_AM_I register
-
-/** Get Device ID.
- * This register is used to verify the identity of the device (0b110100, 0x34).
- * @return Device ID (6 bits only! should be 0x34)
- * @see MPU6050_RA_WHO_AM_I
- * @see MPU6050_WHO_AM_I_BIT
- * @see MPU6050_WHO_AM_I_LENGTH
- */
-uint8_t MPU6050::getDeviceID() {
-    I2Cdev::readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
-    return buffer[0];
-}
-/** Set Device ID.
- * Write a new ID into the WHO_AM_I register (no idea why this should ever be
- * necessary though).
- * @param id New device ID to set.
- * @see getDeviceID()
- * @see MPU6050_RA_WHO_AM_I
- * @see MPU6050_WHO_AM_I_BIT
- * @see MPU6050_WHO_AM_I_LENGTH
- */
-void MPU6050::setDeviceID(uint8_t id) {
-    I2Cdev::writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
-}
-
-// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
-
-// XG_OFFS_TC register
-
-uint8_t MPU6050::getOTPBankValid() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
-    return buffer[0];
-}
-void MPU6050::setOTPBankValid(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
-}
-int8_t MPU6050::getXGyroOffset() {
-    I2Cdev::readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
-    return buffer[0];
-}
-void MPU6050::setXGyroOffset(int8_t offset) {
-    I2Cdev::writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
-}
-
-// YG_OFFS_TC register
-
-int8_t MPU6050::getYGyroOffset() {
-    I2Cdev::readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
-    return buffer[0];
-}
-void MPU6050::setYGyroOffset(int8_t offset) {
-    I2Cdev::writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
-}
-
-// ZG_OFFS_TC register
-
-int8_t MPU6050::getZGyroOffset() {
-    I2Cdev::readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer);
-    return buffer[0];
-}
-void MPU6050::setZGyroOffset(int8_t offset) {
-    I2Cdev::writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
-}
-
-// X_FINE_GAIN register
-
-int8_t MPU6050::getXFineGain() {
-    I2Cdev::readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
-    return buffer[0];
-}
-void MPU6050::setXFineGain(int8_t gain) {
-    I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
-}
-
-// Y_FINE_GAIN register
-
-int8_t MPU6050::getYFineGain() {
-    I2Cdev::readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
-    return buffer[0];
-}
-void MPU6050::setYFineGain(int8_t gain) {
-    I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
-}
-
-// Z_FINE_GAIN register
-
-int8_t MPU6050::getZFineGain() {
-    I2Cdev::readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
-    return buffer[0];
-}
-void MPU6050::setZFineGain(int8_t gain) {
-    I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
-}
-
-// XA_OFFS_* registers
-
-int16_t MPU6050::getXAccelOffset() {
-    I2Cdev::readBytes(devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
-    return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setXAccelOffset(int16_t offset) {
-    I2Cdev::writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
-}
-
-// YA_OFFS_* register
-
-int16_t MPU6050::getYAccelOffset() {
-    I2Cdev::readBytes(devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
-    return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setYAccelOffset(int16_t offset) {
-    I2Cdev::writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
-}
-
-// ZA_OFFS_* register
-
-int16_t MPU6050::getZAccelOffset() {
-    I2Cdev::readBytes(devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
-    return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setZAccelOffset(int16_t offset) {
-    I2Cdev::writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
-}
-
-// XG_OFFS_USR* registers
-
-int16_t MPU6050::getXGyroOffsetUser() {
-    I2Cdev::readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
-    return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setXGyroOffsetUser(int16_t offset) {
-    I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
-}
-
-// YG_OFFS_USR* register
-
-int16_t MPU6050::getYGyroOffsetUser() {
-    I2Cdev::readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
-    return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setYGyroOffsetUser(int16_t offset) {
-    I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
-}
-
-// ZG_OFFS_USR* register
-
-int16_t MPU6050::getZGyroOffsetUser() {
-    I2Cdev::readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
-    return (((int16_t)buffer[0]) << 8) | buffer[1];
-}
-void MPU6050::setZGyroOffsetUser(int16_t offset) {
-    I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
-}
-
-// INT_ENABLE register (DMP functions)
-
-bool MPU6050::getIntPLLReadyEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
-    return buffer[0];
-}
-void MPU6050::setIntPLLReadyEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
-}
-bool MPU6050::getIntDMPEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
-    return buffer[0];
-}
-void MPU6050::setIntDMPEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
-}
-
-// DMP_INT_STATUS
-
-bool MPU6050::getDMPInt5Status() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
-    return buffer[0];
-}
-bool MPU6050::getDMPInt4Status() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
-    return buffer[0];
-}
-bool MPU6050::getDMPInt3Status() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
-    return buffer[0];
-}
-bool MPU6050::getDMPInt2Status() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
-    return buffer[0];
-}
-bool MPU6050::getDMPInt1Status() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
-    return buffer[0];
-}
-bool MPU6050::getDMPInt0Status() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
-    return buffer[0];
-}
-
-// INT_STATUS register (DMP functions)
-
-bool MPU6050::getIntPLLReadyStatus() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
-    return buffer[0];
-}
-bool MPU6050::getIntDMPStatus() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
-    return buffer[0];
-}
-
-// USER_CTRL register (DMP functions)
-
-bool MPU6050::getDMPEnabled() {
-    I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
-    return buffer[0];
-}
-void MPU6050::setDMPEnabled(bool enabled) {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
-}
-void MPU6050::resetDMP() {
-    I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
-}
-
-// BANK_SEL register
-
-void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) {
-    bank &= 0x1F;
-    if (userBank) bank |= 0x20;
-    if (prefetchEnabled) bank |= 0x40;
-    I2Cdev::writeByte(devAddr, MPU6050_RA_BANK_SEL, bank);
-}
-
-// MEM_START_ADDR register
-
-void MPU6050::setMemoryStartAddress(uint8_t address) {
-    I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
-}
-
-// MEM_R_W register
-
-uint8_t MPU6050::readMemoryByte() {
-    I2Cdev::readByte(devAddr, MPU6050_RA_MEM_R_W, buffer);
-    return buffer[0];
-}
-void MPU6050::writeMemoryByte(uint8_t data) {
-    I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
-}
-void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) {
-    setMemoryBank(bank);
-    setMemoryStartAddress(address);
-    uint8_t chunkSize;
-    for (uint16_t i = 0; i < dataSize;) {
-        // determine correct chunk size according to bank position and data size
-        chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
-
-        // make sure we don't go past the data size
-        if (i + chunkSize > dataSize) chunkSize = dataSize - i;
-
-        // make sure this chunk doesn't go past the bank boundary (256 bytes)
-        if (chunkSize > 256 - address) chunkSize = 256 - address;
-
-        // read the chunk of data as specified
-        I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
-        
-        // increase byte index by [chunkSize]
-        i += chunkSize;
-
-        // uint8_t automatically wraps to 0 at 256
-        address += chunkSize;
-
-        // if we aren't done, update bank (if necessary) and address
-        if (i < dataSize) {
-            if (address == 0) bank++;
-            setMemoryBank(bank);
-            setMemoryStartAddress(address);
-        }
-    }
-}
-bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem) {
-    setMemoryBank(bank);
-    setMemoryStartAddress(address);
-    uint8_t chunkSize;
-    uint8_t *verifyBuffer;
-    uint8_t *progBuffer = NULL; // Keep compiler quiet
-    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 = NULL, 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);
-}
diff --git a/IMU/MPU6050.h b/IMU/MPU6050.h
deleted file mode 100644
index 00d8dd8..0000000
--- a/IMU/MPU6050.h
+++ /dev/null
@@ -1,988 +0,0 @@
-// I2Cdev library collection - MPU6050 I2C device class
-// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
-// 10/3/2011 by Jeff Rowberg 
-// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
-//
-// Changelog:
-//     ... - ongoing debug release
-
-// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
-// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
-// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
-
-/* ============================================
-I2Cdev device library code is placed under the MIT license
-Copyright (c) 2012 Jeff Rowberg
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-===============================================
-*/
-
-#ifndef _MPU6050_H_
-#define _MPU6050_H_
-
-#include "I2Cdev.h"
-//#include 
-
-#define pgm_read_byte(p) (*(uint8_t *)(p))
-
-
-#define MPU6050_ADDRESS_AD0_LOW     0x68 // address pin low (GND), default for InvenSense evaluation board
-#define MPU6050_ADDRESS_AD0_HIGH    0x69 // address pin high (VCC)
-#define MPU6050_DEFAULT_ADDRESS     MPU6050_ADDRESS_AD0_LOW
-
-#define MPU6050_RA_XG_OFFS_TC       0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
-#define MPU6050_RA_YG_OFFS_TC       0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
-#define MPU6050_RA_ZG_OFFS_TC       0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
-#define MPU6050_RA_X_FINE_GAIN      0x03 //[7:0] X_FINE_GAIN
-#define MPU6050_RA_Y_FINE_GAIN      0x04 //[7:0] Y_FINE_GAIN
-#define MPU6050_RA_Z_FINE_GAIN      0x05 //[7:0] Z_FINE_GAIN
-#define MPU6050_RA_XA_OFFS_H        0x06 //[15:0] XA_OFFS
-#define MPU6050_RA_XA_OFFS_L_TC     0x07
-#define MPU6050_RA_YA_OFFS_H        0x08 //[15:0] YA_OFFS
-#define MPU6050_RA_YA_OFFS_L_TC     0x09
-#define MPU6050_RA_ZA_OFFS_H        0x0A //[15:0] ZA_OFFS
-#define MPU6050_RA_ZA_OFFS_L_TC     0x0B
-#define MPU6050_RA_XG_OFFS_USRH     0x13 //[15:0] XG_OFFS_USR
-#define MPU6050_RA_XG_OFFS_USRL     0x14
-#define MPU6050_RA_YG_OFFS_USRH     0x15 //[15:0] YG_OFFS_USR
-#define MPU6050_RA_YG_OFFS_USRL     0x16
-#define MPU6050_RA_ZG_OFFS_USRH     0x17 //[15:0] ZG_OFFS_USR
-#define MPU6050_RA_ZG_OFFS_USRL     0x18
-#define MPU6050_RA_SMPLRT_DIV       0x19
-#define MPU6050_RA_CONFIG           0x1A
-#define MPU6050_RA_GYRO_CONFIG      0x1B
-#define MPU6050_RA_ACCEL_CONFIG     0x1C
-#define MPU6050_RA_FF_THR           0x1D
-#define MPU6050_RA_FF_DUR           0x1E
-#define MPU6050_RA_MOT_THR          0x1F
-#define MPU6050_RA_MOT_DUR          0x20
-#define MPU6050_RA_ZRMOT_THR        0x21
-#define MPU6050_RA_ZRMOT_DUR        0x22
-#define MPU6050_RA_FIFO_EN          0x23
-#define MPU6050_RA_I2C_MST_CTRL     0x24
-#define MPU6050_RA_I2C_SLV0_ADDR    0x25
-#define MPU6050_RA_I2C_SLV0_REG     0x26
-#define MPU6050_RA_I2C_SLV0_CTRL    0x27
-#define MPU6050_RA_I2C_SLV1_ADDR    0x28
-#define MPU6050_RA_I2C_SLV1_REG     0x29
-#define MPU6050_RA_I2C_SLV1_CTRL    0x2A
-#define MPU6050_RA_I2C_SLV2_ADDR    0x2B
-#define MPU6050_RA_I2C_SLV2_REG     0x2C
-#define MPU6050_RA_I2C_SLV2_CTRL    0x2D
-#define MPU6050_RA_I2C_SLV3_ADDR    0x2E
-#define MPU6050_RA_I2C_SLV3_REG     0x2F
-#define MPU6050_RA_I2C_SLV3_CTRL    0x30
-#define MPU6050_RA_I2C_SLV4_ADDR    0x31
-#define MPU6050_RA_I2C_SLV4_REG     0x32
-#define MPU6050_RA_I2C_SLV4_DO      0x33
-#define MPU6050_RA_I2C_SLV4_CTRL    0x34
-#define MPU6050_RA_I2C_SLV4_DI      0x35
-#define MPU6050_RA_I2C_MST_STATUS   0x36
-#define MPU6050_RA_INT_PIN_CFG      0x37
-#define MPU6050_RA_INT_ENABLE       0x38
-#define MPU6050_RA_DMP_INT_STATUS   0x39
-#define MPU6050_RA_INT_STATUS       0x3A
-#define MPU6050_RA_ACCEL_XOUT_H     0x3B
-#define MPU6050_RA_ACCEL_XOUT_L     0x3C
-#define MPU6050_RA_ACCEL_YOUT_H     0x3D
-#define MPU6050_RA_ACCEL_YOUT_L     0x3E
-#define MPU6050_RA_ACCEL_ZOUT_H     0x3F
-#define MPU6050_RA_ACCEL_ZOUT_L     0x40
-#define MPU6050_RA_TEMP_OUT_H       0x41
-#define MPU6050_RA_TEMP_OUT_L       0x42
-#define MPU6050_RA_GYRO_XOUT_H      0x43
-#define MPU6050_RA_GYRO_XOUT_L      0x44
-#define MPU6050_RA_GYRO_YOUT_H      0x45
-#define MPU6050_RA_GYRO_YOUT_L      0x46
-#define MPU6050_RA_GYRO_ZOUT_H      0x47
-#define MPU6050_RA_GYRO_ZOUT_L      0x48
-#define MPU6050_RA_EXT_SENS_DATA_00 0x49
-#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
-#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
-#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
-#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
-#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
-#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
-#define MPU6050_RA_EXT_SENS_DATA_07 0x50
-#define MPU6050_RA_EXT_SENS_DATA_08 0x51
-#define MPU6050_RA_EXT_SENS_DATA_09 0x52
-#define MPU6050_RA_EXT_SENS_DATA_10 0x53
-#define MPU6050_RA_EXT_SENS_DATA_11 0x54
-#define MPU6050_RA_EXT_SENS_DATA_12 0x55
-#define MPU6050_RA_EXT_SENS_DATA_13 0x56
-#define MPU6050_RA_EXT_SENS_DATA_14 0x57
-#define MPU6050_RA_EXT_SENS_DATA_15 0x58
-#define MPU6050_RA_EXT_SENS_DATA_16 0x59
-#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
-#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
-#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
-#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
-#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
-#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
-#define MPU6050_RA_EXT_SENS_DATA_23 0x60
-#define MPU6050_RA_MOT_DETECT_STATUS    0x61
-#define MPU6050_RA_I2C_SLV0_DO      0x63
-#define MPU6050_RA_I2C_SLV1_DO      0x64
-#define MPU6050_RA_I2C_SLV2_DO      0x65
-#define MPU6050_RA_I2C_SLV3_DO      0x66
-#define MPU6050_RA_I2C_MST_DELAY_CTRL   0x67
-#define MPU6050_RA_SIGNAL_PATH_RESET    0x68
-#define MPU6050_RA_MOT_DETECT_CTRL      0x69
-#define MPU6050_RA_USER_CTRL        0x6A
-#define MPU6050_RA_PWR_MGMT_1       0x6B
-#define MPU6050_RA_PWR_MGMT_2       0x6C
-#define MPU6050_RA_BANK_SEL         0x6D
-#define MPU6050_RA_MEM_START_ADDR   0x6E
-#define MPU6050_RA_MEM_R_W          0x6F
-#define MPU6050_RA_DMP_CFG_1        0x70
-#define MPU6050_RA_DMP_CFG_2        0x71
-#define MPU6050_RA_FIFO_COUNTH      0x72
-#define MPU6050_RA_FIFO_COUNTL      0x73
-#define MPU6050_RA_FIFO_R_W         0x74
-#define MPU6050_RA_WHO_AM_I         0x75
-
-#define MPU6050_TC_PWR_MODE_BIT     7
-#define MPU6050_TC_OFFSET_BIT       6
-#define MPU6050_TC_OFFSET_LENGTH    6
-#define MPU6050_TC_OTP_BNK_VLD_BIT  0
-
-#define MPU6050_VDDIO_LEVEL_VLOGIC  0
-#define MPU6050_VDDIO_LEVEL_VDD     1
-
-#define MPU6050_CFG_EXT_SYNC_SET_BIT    5
-#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
-#define MPU6050_CFG_DLPF_CFG_BIT    2
-#define MPU6050_CFG_DLPF_CFG_LENGTH 3
-
-#define MPU6050_EXT_SYNC_DISABLED       0x0
-#define MPU6050_EXT_SYNC_TEMP_OUT_L     0x1
-#define MPU6050_EXT_SYNC_GYRO_XOUT_L    0x2
-#define MPU6050_EXT_SYNC_GYRO_YOUT_L    0x3
-#define MPU6050_EXT_SYNC_GYRO_ZOUT_L    0x4
-#define MPU6050_EXT_SYNC_ACCEL_XOUT_L   0x5
-#define MPU6050_EXT_SYNC_ACCEL_YOUT_L   0x6
-#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L   0x7
-
-#define MPU6050_DLPF_BW_256         0x00
-#define MPU6050_DLPF_BW_188         0x01
-#define MPU6050_DLPF_BW_98          0x02
-#define MPU6050_DLPF_BW_42          0x03
-#define MPU6050_DLPF_BW_20          0x04
-#define MPU6050_DLPF_BW_10          0x05
-#define MPU6050_DLPF_BW_5           0x06
-
-#define MPU6050_GCONFIG_FS_SEL_BIT      4
-#define MPU6050_GCONFIG_FS_SEL_LENGTH   2
-
-#define MPU6050_GYRO_FS_250         0x00
-#define MPU6050_GYRO_FS_500         0x01
-#define MPU6050_GYRO_FS_1000        0x02
-#define MPU6050_GYRO_FS_2000        0x03
-
-#define MPU6050_ACONFIG_XA_ST_BIT           7
-#define MPU6050_ACONFIG_YA_ST_BIT           6
-#define MPU6050_ACONFIG_ZA_ST_BIT           5
-#define MPU6050_ACONFIG_AFS_SEL_BIT         4
-#define MPU6050_ACONFIG_AFS_SEL_LENGTH      2
-#define MPU6050_ACONFIG_ACCEL_HPF_BIT       2
-#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH    3
-
-#define MPU6050_ACCEL_FS_2          0x00
-#define MPU6050_ACCEL_FS_4          0x01
-#define MPU6050_ACCEL_FS_8          0x02
-#define MPU6050_ACCEL_FS_16         0x03
-
-#define MPU6050_DHPF_RESET          0x00
-#define MPU6050_DHPF_5              0x01
-#define MPU6050_DHPF_2P5            0x02
-#define MPU6050_DHPF_1P25           0x03
-#define MPU6050_DHPF_0P63           0x04
-#define MPU6050_DHPF_HOLD           0x07
-
-#define MPU6050_TEMP_FIFO_EN_BIT    7
-#define MPU6050_XG_FIFO_EN_BIT      6
-#define MPU6050_YG_FIFO_EN_BIT      5
-#define MPU6050_ZG_FIFO_EN_BIT      4
-#define MPU6050_ACCEL_FIFO_EN_BIT   3
-#define MPU6050_SLV2_FIFO_EN_BIT    2
-#define MPU6050_SLV1_FIFO_EN_BIT    1
-#define MPU6050_SLV0_FIFO_EN_BIT    0
-
-#define MPU6050_MULT_MST_EN_BIT     7
-#define MPU6050_WAIT_FOR_ES_BIT     6
-#define MPU6050_SLV_3_FIFO_EN_BIT   5
-#define MPU6050_I2C_MST_P_NSR_BIT   4
-#define MPU6050_I2C_MST_CLK_BIT     3
-#define MPU6050_I2C_MST_CLK_LENGTH  4
-
-#define MPU6050_CLOCK_DIV_348       0x0
-#define MPU6050_CLOCK_DIV_333       0x1
-#define MPU6050_CLOCK_DIV_320       0x2
-#define MPU6050_CLOCK_DIV_308       0x3
-#define MPU6050_CLOCK_DIV_296       0x4
-#define MPU6050_CLOCK_DIV_286       0x5
-#define MPU6050_CLOCK_DIV_276       0x6
-#define MPU6050_CLOCK_DIV_267       0x7
-#define MPU6050_CLOCK_DIV_258       0x8
-#define MPU6050_CLOCK_DIV_500       0x9
-#define MPU6050_CLOCK_DIV_471       0xA
-#define MPU6050_CLOCK_DIV_444       0xB
-#define MPU6050_CLOCK_DIV_421       0xC
-#define MPU6050_CLOCK_DIV_400       0xD
-#define MPU6050_CLOCK_DIV_381       0xE
-#define MPU6050_CLOCK_DIV_364       0xF
-
-#define MPU6050_I2C_SLV_RW_BIT      7
-#define MPU6050_I2C_SLV_ADDR_BIT    6
-#define MPU6050_I2C_SLV_ADDR_LENGTH 7
-#define MPU6050_I2C_SLV_EN_BIT      7
-#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
-#define MPU6050_I2C_SLV_REG_DIS_BIT 5
-#define MPU6050_I2C_SLV_GRP_BIT     4
-#define MPU6050_I2C_SLV_LEN_BIT     3
-#define MPU6050_I2C_SLV_LEN_LENGTH  4
-
-#define MPU6050_I2C_SLV4_RW_BIT         7
-#define MPU6050_I2C_SLV4_ADDR_BIT       6
-#define MPU6050_I2C_SLV4_ADDR_LENGTH    7
-#define MPU6050_I2C_SLV4_EN_BIT         7
-#define MPU6050_I2C_SLV4_INT_EN_BIT     6
-#define MPU6050_I2C_SLV4_REG_DIS_BIT    5
-#define MPU6050_I2C_SLV4_MST_DLY_BIT    4
-#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
-
-#define MPU6050_MST_PASS_THROUGH_BIT    7
-#define MPU6050_MST_I2C_SLV4_DONE_BIT   6
-#define MPU6050_MST_I2C_LOST_ARB_BIT    5
-#define MPU6050_MST_I2C_SLV4_NACK_BIT   4
-#define MPU6050_MST_I2C_SLV3_NACK_BIT   3
-#define MPU6050_MST_I2C_SLV2_NACK_BIT   2
-#define MPU6050_MST_I2C_SLV1_NACK_BIT   1
-#define MPU6050_MST_I2C_SLV0_NACK_BIT   0
-
-#define MPU6050_INTCFG_INT_LEVEL_BIT        7
-#define MPU6050_INTCFG_INT_OPEN_BIT         6
-#define MPU6050_INTCFG_LATCH_INT_EN_BIT     5
-#define MPU6050_INTCFG_INT_RD_CLEAR_BIT     4
-#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT  3
-#define MPU6050_INTCFG_FSYNC_INT_EN_BIT     2
-#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT    1
-#define MPU6050_INTCFG_CLKOUT_EN_BIT        0
-
-#define MPU6050_INTMODE_ACTIVEHIGH  0x00
-#define MPU6050_INTMODE_ACTIVELOW   0x01
-
-#define MPU6050_INTDRV_PUSHPULL     0x00
-#define MPU6050_INTDRV_OPENDRAIN    0x01
-
-#define MPU6050_INTLATCH_50USPULSE  0x00
-#define MPU6050_INTLATCH_WAITCLEAR  0x01
-
-#define MPU6050_INTCLEAR_STATUSREAD 0x00
-#define MPU6050_INTCLEAR_ANYREAD    0x01
-
-#define MPU6050_INTERRUPT_FF_BIT            7
-#define MPU6050_INTERRUPT_MOT_BIT           6
-#define MPU6050_INTERRUPT_ZMOT_BIT          5
-#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT    4
-#define MPU6050_INTERRUPT_I2C_MST_INT_BIT   3
-#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT   2
-#define MPU6050_INTERRUPT_DMP_INT_BIT       1
-#define MPU6050_INTERRUPT_DATA_RDY_BIT      0
-
-// TODO: figure out what these actually do
-// UMPL source code is not very obivous
-#define MPU6050_DMPINT_5_BIT            5
-#define MPU6050_DMPINT_4_BIT            4
-#define MPU6050_DMPINT_3_BIT            3
-#define MPU6050_DMPINT_2_BIT            2
-#define MPU6050_DMPINT_1_BIT            1
-#define MPU6050_DMPINT_0_BIT            0
-
-#define MPU6050_MOTION_MOT_XNEG_BIT     7
-#define MPU6050_MOTION_MOT_XPOS_BIT     6
-#define MPU6050_MOTION_MOT_YNEG_BIT     5
-#define MPU6050_MOTION_MOT_YPOS_BIT     4
-#define MPU6050_MOTION_MOT_ZNEG_BIT     3
-#define MPU6050_MOTION_MOT_ZPOS_BIT     2
-#define MPU6050_MOTION_MOT_ZRMOT_BIT    0
-
-#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT   7
-#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT   4
-#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT   3
-#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT   2
-#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT   1
-#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT   0
-
-#define MPU6050_PATHRESET_GYRO_RESET_BIT    2
-#define MPU6050_PATHRESET_ACCEL_RESET_BIT   1
-#define MPU6050_PATHRESET_TEMP_RESET_BIT    0
-
-#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT       5
-#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH    2
-#define MPU6050_DETECT_FF_COUNT_BIT             3
-#define MPU6050_DETECT_FF_COUNT_LENGTH          2
-#define MPU6050_DETECT_MOT_COUNT_BIT            1
-#define MPU6050_DETECT_MOT_COUNT_LENGTH         2
-
-#define MPU6050_DETECT_DECREMENT_RESET  0x0
-#define MPU6050_DETECT_DECREMENT_1      0x1
-#define MPU6050_DETECT_DECREMENT_2      0x2
-#define MPU6050_DETECT_DECREMENT_4      0x3
-
-#define MPU6050_USERCTRL_DMP_EN_BIT             7
-#define MPU6050_USERCTRL_FIFO_EN_BIT            6
-#define MPU6050_USERCTRL_I2C_MST_EN_BIT         5
-#define MPU6050_USERCTRL_I2C_IF_DIS_BIT         4
-#define MPU6050_USERCTRL_DMP_RESET_BIT          3
-#define MPU6050_USERCTRL_FIFO_RESET_BIT         2
-#define MPU6050_USERCTRL_I2C_MST_RESET_BIT      1
-#define MPU6050_USERCTRL_SIG_COND_RESET_BIT     0
-
-#define MPU6050_PWR1_DEVICE_RESET_BIT   7
-#define MPU6050_PWR1_SLEEP_BIT          6
-#define MPU6050_PWR1_CYCLE_BIT          5
-#define MPU6050_PWR1_TEMP_DIS_BIT       3
-#define MPU6050_PWR1_CLKSEL_BIT         2
-#define MPU6050_PWR1_CLKSEL_LENGTH      3
-
-#define MPU6050_CLOCK_INTERNAL          0x00
-#define MPU6050_CLOCK_PLL_XGYRO         0x01
-#define MPU6050_CLOCK_PLL_YGYRO         0x02
-#define MPU6050_CLOCK_PLL_ZGYRO         0x03
-#define MPU6050_CLOCK_PLL_EXT32K        0x04
-#define MPU6050_CLOCK_PLL_EXT19M        0x05
-#define MPU6050_CLOCK_KEEP_RESET        0x07
-
-#define MPU6050_PWR2_LP_WAKE_CTRL_BIT       7
-#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH    2
-#define MPU6050_PWR2_STBY_XA_BIT            5
-#define MPU6050_PWR2_STBY_YA_BIT            4
-#define MPU6050_PWR2_STBY_ZA_BIT            3
-#define MPU6050_PWR2_STBY_XG_BIT            2
-#define MPU6050_PWR2_STBY_YG_BIT            1
-#define MPU6050_PWR2_STBY_ZG_BIT            0
-
-#define MPU6050_WAKE_FREQ_1P25      0x0
-#define MPU6050_WAKE_FREQ_2P5       0x1
-#define MPU6050_WAKE_FREQ_5         0x2
-#define MPU6050_WAKE_FREQ_10        0x3
-
-#define MPU6050_BANKSEL_PRFTCH_EN_BIT       6
-#define MPU6050_BANKSEL_CFG_USER_BANK_BIT   5
-#define MPU6050_BANKSEL_MEM_SEL_BIT         4
-#define MPU6050_BANKSEL_MEM_SEL_LENGTH      5
-
-#define MPU6050_WHO_AM_I_BIT        6
-#define MPU6050_WHO_AM_I_LENGTH     6
-
-#define MPU6050_DMP_MEMORY_BANKS        8
-#define MPU6050_DMP_MEMORY_BANK_SIZE    256
-#define MPU6050_DMP_MEMORY_CHUNK_SIZE   16
-
-// note: DMP code memory blocks defined at end of header file
-
-class MPU6050 {
-    public:
-        MPU6050();
-        MPU6050(uint8_t address);
-
-        void initialize();
-        bool testConnection();
-
-        // AUX_VDDIO register
-        uint8_t getAuxVDDIOLevel();
-        void setAuxVDDIOLevel(uint8_t level);
-
-        // SMPLRT_DIV register
-        uint8_t getRate();
-        void setRate(uint8_t rate);
-
-        // CONFIG register
-        uint8_t getExternalFrameSync();
-        void setExternalFrameSync(uint8_t sync);
-        uint8_t getDLPFMode();
-        void setDLPFMode(uint8_t bandwidth);
-
-        // GYRO_CONFIG register
-        uint8_t getFullScaleGyroRange();
-        void setFullScaleGyroRange(uint8_t range);
-
-        // ACCEL_CONFIG register
-        bool getAccelXSelfTest();
-        void setAccelXSelfTest(bool enabled);
-        bool getAccelYSelfTest();
-        void setAccelYSelfTest(bool enabled);
-        bool getAccelZSelfTest();
-        void setAccelZSelfTest(bool enabled);
-        uint8_t getFullScaleAccelRange();
-        void setFullScaleAccelRange(uint8_t range);
-        uint8_t getDHPFMode();
-        void setDHPFMode(uint8_t mode);
-
-        // FF_THR register
-        uint8_t getFreefallDetectionThreshold();
-        void setFreefallDetectionThreshold(uint8_t threshold);
-
-        // FF_DUR register
-        uint8_t getFreefallDetectionDuration();
-        void setFreefallDetectionDuration(uint8_t duration);
-
-        // MOT_THR register
-        uint8_t getMotionDetectionThreshold();
-        void setMotionDetectionThreshold(uint8_t threshold);
-
-        // MOT_DUR register
-        uint8_t getMotionDetectionDuration();
-        void setMotionDetectionDuration(uint8_t duration);
-
-        // ZRMOT_THR register
-        uint8_t getZeroMotionDetectionThreshold();
-        void setZeroMotionDetectionThreshold(uint8_t threshold);
-
-        // ZRMOT_DUR register
-        uint8_t getZeroMotionDetectionDuration();
-        void setZeroMotionDetectionDuration(uint8_t duration);
-
-        // FIFO_EN register
-        bool getTempFIFOEnabled();
-        void setTempFIFOEnabled(bool enabled);
-        bool getXGyroFIFOEnabled();
-        void setXGyroFIFOEnabled(bool enabled);
-        bool getYGyroFIFOEnabled();
-        void setYGyroFIFOEnabled(bool enabled);
-        bool getZGyroFIFOEnabled();
-        void setZGyroFIFOEnabled(bool enabled);
-        bool getAccelFIFOEnabled();
-        void setAccelFIFOEnabled(bool enabled);
-        bool getSlave2FIFOEnabled();
-        void setSlave2FIFOEnabled(bool enabled);
-        bool getSlave1FIFOEnabled();
-        void setSlave1FIFOEnabled(bool enabled);
-        bool getSlave0FIFOEnabled();
-        void setSlave0FIFOEnabled(bool enabled);
-
-        // I2C_MST_CTRL register
-        bool getMultiMasterEnabled();
-        void setMultiMasterEnabled(bool enabled);
-        bool getWaitForExternalSensorEnabled();
-        void setWaitForExternalSensorEnabled(bool enabled);
-        bool getSlave3FIFOEnabled();
-        void setSlave3FIFOEnabled(bool enabled);
-        bool getSlaveReadWriteTransitionEnabled();
-        void setSlaveReadWriteTransitionEnabled(bool enabled);
-        uint8_t getMasterClockSpeed();
-        void setMasterClockSpeed(uint8_t speed);
-
-        // I2C_SLV* registers (Slave 0-3)
-        uint8_t getSlaveAddress(uint8_t num);
-        void setSlaveAddress(uint8_t num, uint8_t address);
-        uint8_t getSlaveRegister(uint8_t num);
-        void setSlaveRegister(uint8_t num, uint8_t reg);
-        bool getSlaveEnabled(uint8_t num);
-        void setSlaveEnabled(uint8_t num, bool enabled);
-        bool getSlaveWordByteSwap(uint8_t num);
-        void setSlaveWordByteSwap(uint8_t num, bool enabled);
-        bool getSlaveWriteMode(uint8_t num);
-        void setSlaveWriteMode(uint8_t num, bool mode);
-        bool getSlaveWordGroupOffset(uint8_t num);
-        void setSlaveWordGroupOffset(uint8_t num, bool enabled);
-        uint8_t getSlaveDataLength(uint8_t num);
-        void setSlaveDataLength(uint8_t num, uint8_t length);
-
-        // I2C_SLV* registers (Slave 4)
-        uint8_t getSlave4Address();
-        void setSlave4Address(uint8_t address);
-        uint8_t getSlave4Register();
-        void setSlave4Register(uint8_t reg);
-        void setSlave4OutputByte(uint8_t data);
-        bool getSlave4Enabled();
-        void setSlave4Enabled(bool enabled);
-        bool getSlave4InterruptEnabled();
-        void setSlave4InterruptEnabled(bool enabled);
-        bool getSlave4WriteMode();
-        void setSlave4WriteMode(bool mode);
-        uint8_t getSlave4MasterDelay();
-        void setSlave4MasterDelay(uint8_t delay);
-        uint8_t getSlate4InputByte();
-
-        // I2C_MST_STATUS register
-        bool getPassthroughStatus();
-        bool getSlave4IsDone();
-        bool getLostArbitration();
-        bool getSlave4Nack();
-        bool getSlave3Nack();
-        bool getSlave2Nack();
-        bool getSlave1Nack();
-        bool getSlave0Nack();
-
-        // INT_PIN_CFG register
-        bool getInterruptMode();
-        void setInterruptMode(bool mode);
-        bool getInterruptDrive();
-        void setInterruptDrive(bool drive);
-        bool getInterruptLatch();
-        void setInterruptLatch(bool latch);
-        bool getInterruptLatchClear();
-        void setInterruptLatchClear(bool clear);
-        bool getFSyncInterruptLevel();
-        void setFSyncInterruptLevel(bool level);
-        bool getFSyncInterruptEnabled();
-        void setFSyncInterruptEnabled(bool enabled);
-        bool getI2CBypassEnabled();
-        void setI2CBypassEnabled(bool enabled);
-        bool getClockOutputEnabled();
-        void setClockOutputEnabled(bool enabled);
-
-        // INT_ENABLE register
-        uint8_t getIntEnabled();
-        void setIntEnabled(uint8_t enabled);
-        bool getIntFreefallEnabled();
-        void setIntFreefallEnabled(bool enabled);
-        bool getIntMotionEnabled();
-        void setIntMotionEnabled(bool enabled);
-        bool getIntZeroMotionEnabled();
-        void setIntZeroMotionEnabled(bool enabled);
-        bool getIntFIFOBufferOverflowEnabled();
-        void setIntFIFOBufferOverflowEnabled(bool enabled);
-        bool getIntI2CMasterEnabled();
-        void setIntI2CMasterEnabled(bool enabled);
-        bool getIntDataReadyEnabled();
-        void setIntDataReadyEnabled(bool enabled);
-
-        // INT_STATUS register
-        uint8_t getIntStatus();
-        bool getIntFreefallStatus();
-        bool getIntMotionStatus();
-        bool getIntZeroMotionStatus();
-        bool getIntFIFOBufferOverflowStatus();
-        bool getIntI2CMasterStatus();
-        bool getIntDataReadyStatus();
-
-        // ACCEL_*OUT_* registers
-        void getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz);
-        void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
-        void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
-        int16_t getAccelerationX();
-        int16_t getAccelerationY();
-        int16_t getAccelerationZ();
-
-        // TEMP_OUT_* registers
-        int16_t getTemperature();
-
-        // GYRO_*OUT_* registers
-        void getRotation(int16_t* x, int16_t* y, int16_t* z);
-        int16_t getRotationX();
-        int16_t getRotationY();
-        int16_t getRotationZ();
-
-        // EXT_SENS_DATA_* registers
-        uint8_t getExternalSensorByte(int position);
-        uint16_t getExternalSensorWord(int position);
-        uint32_t getExternalSensorDWord(int position);
-
-        // MOT_DETECT_STATUS register
-        bool getXNegMotionDetected();
-        bool getXPosMotionDetected();
-        bool getYNegMotionDetected();
-        bool getYPosMotionDetected();
-        bool getZNegMotionDetected();
-        bool getZPosMotionDetected();
-        bool getZeroMotionDetected();
-
-        // I2C_SLV*_DO register
-        void setSlaveOutputByte(uint8_t num, uint8_t data);
-
-        // I2C_MST_DELAY_CTRL register
-        bool getExternalShadowDelayEnabled();
-        void setExternalShadowDelayEnabled(bool enabled);
-        bool getSlaveDelayEnabled(uint8_t num);
-        void setSlaveDelayEnabled(uint8_t num, bool enabled);
-
-        // SIGNAL_PATH_RESET register
-        void resetGyroscopePath();
-        void resetAccelerometerPath();
-        void resetTemperaturePath();
-
-        // MOT_DETECT_CTRL register
-        uint8_t getAccelerometerPowerOnDelay();
-        void setAccelerometerPowerOnDelay(uint8_t delay);
-        uint8_t getFreefallDetectionCounterDecrement();
-        void setFreefallDetectionCounterDecrement(uint8_t decrement);
-        uint8_t getMotionDetectionCounterDecrement();
-        void setMotionDetectionCounterDecrement(uint8_t decrement);
-
-        // USER_CTRL register
-        bool getFIFOEnabled();
-        void setFIFOEnabled(bool enabled);
-        bool getI2CMasterModeEnabled();
-        void setI2CMasterModeEnabled(bool enabled);
-        void switchSPIEnabled(bool enabled);
-        void resetFIFO();
-        void resetI2CMaster();
-        void resetSensors();
-
-        // PWR_MGMT_1 register
-        void reset();
-        bool getSleepEnabled();
-        void setSleepEnabled(bool enabled);
-        bool getWakeCycleEnabled();
-        void setWakeCycleEnabled(bool enabled);
-        bool getTempSensorEnabled();
-        void setTempSensorEnabled(bool enabled);
-        uint8_t getClockSource();
-        void setClockSource(uint8_t source);
-
-        // PWR_MGMT_2 register
-        uint8_t getWakeFrequency();
-        void setWakeFrequency(uint8_t frequency);
-        bool getStandbyXAccelEnabled();
-        void setStandbyXAccelEnabled(bool enabled);
-        bool getStandbyYAccelEnabled();
-        void setStandbyYAccelEnabled(bool enabled);
-        bool getStandbyZAccelEnabled();
-        void setStandbyZAccelEnabled(bool enabled);
-        bool getStandbyXGyroEnabled();
-        void setStandbyXGyroEnabled(bool enabled);
-        bool getStandbyYGyroEnabled();
-        void setStandbyYGyroEnabled(bool enabled);
-        bool getStandbyZGyroEnabled();
-        void setStandbyZGyroEnabled(bool enabled);
-
-        // FIFO_COUNT_* registers
-        uint16_t getFIFOCount();
-
-        // FIFO_R_W register
-        uint8_t getFIFOByte();
-        void setFIFOByte(uint8_t data);
-        void getFIFOBytes(uint8_t *data, uint8_t length);
-
-        // WHO_AM_I register
-        uint8_t getDeviceID();
-        void setDeviceID(uint8_t id);
-        
-        // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
-        
-        // XG_OFFS_TC register
-        uint8_t getOTPBankValid();
-        void setOTPBankValid(bool enabled);
-        int8_t getXGyroOffset();
-        void setXGyroOffset(int8_t offset);
-
-        // YG_OFFS_TC register
-        int8_t getYGyroOffset();
-        void setYGyroOffset(int8_t offset);
-
-        // ZG_OFFS_TC register
-        int8_t getZGyroOffset();
-        void setZGyroOffset(int8_t offset);
-
-        // X_FINE_GAIN register
-        int8_t getXFineGain();
-        void setXFineGain(int8_t gain);
-
-        // Y_FINE_GAIN register
-        int8_t getYFineGain();
-        void setYFineGain(int8_t gain);
-
-        // Z_FINE_GAIN register
-        int8_t getZFineGain();
-        void setZFineGain(int8_t gain);
-
-        // XA_OFFS_* registers
-        int16_t getXAccelOffset();
-        void setXAccelOffset(int16_t offset);
-
-        // YA_OFFS_* register
-        int16_t getYAccelOffset();
-        void setYAccelOffset(int16_t offset);
-
-        // ZA_OFFS_* register
-        int16_t getZAccelOffset();
-        void setZAccelOffset(int16_t offset);
-
-        // XG_OFFS_USR* registers
-        int16_t getXGyroOffsetUser();
-        void setXGyroOffsetUser(int16_t offset);
-
-        // YG_OFFS_USR* register
-        int16_t getYGyroOffsetUser();
-        void setYGyroOffsetUser(int16_t offset);
-
-        // ZG_OFFS_USR* register
-        int16_t getZGyroOffsetUser();
-        void setZGyroOffsetUser(int16_t offset);
-        
-        // INT_ENABLE register (DMP functions)
-        bool getIntPLLReadyEnabled();
-        void setIntPLLReadyEnabled(bool enabled);
-        bool getIntDMPEnabled();
-        void setIntDMPEnabled(bool enabled);
-        
-        // DMP_INT_STATUS
-        bool getDMPInt5Status();
-        bool getDMPInt4Status();
-        bool getDMPInt3Status();
-        bool getDMPInt2Status();
-        bool getDMPInt1Status();
-        bool getDMPInt0Status();
-
-        // INT_STATUS register (DMP functions)
-        bool getIntPLLReadyStatus();
-        bool getIntDMPStatus();
-        
-        // USER_CTRL register (DMP functions)
-        bool getDMPEnabled();
-        void setDMPEnabled(bool enabled);
-        void resetDMP();
-        
-        // BANK_SEL register
-        void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
-        
-        // MEM_START_ADDR register
-        void setMemoryStartAddress(uint8_t address);
-        
-        // MEM_R_W register
-        uint8_t readMemoryByte();
-        void writeMemoryByte(uint8_t data);
-        void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0);
-        bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false);
-        bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true);
-
-        bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false);
-        bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize);
-
-        // DMP_CFG_1 register
-        uint8_t getDMPConfig1();
-        void setDMPConfig1(uint8_t config);
-
-        // DMP_CFG_2 register
-        uint8_t getDMPConfig2();
-        void setDMPConfig2(uint8_t config);
-
-        // special methods for MotionApps 2.0 implementation
-        #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
-            uint8_t *dmpPacketBuffer;
-            uint16_t dmpPacketSize;
-
-            uint8_t dmpInitialize();
-            bool dmpPacketAvailable();
-
-            uint8_t dmpSetFIFORate(uint8_t fifoRate);
-            uint8_t dmpGetFIFORate();
-            uint8_t dmpGetSampleStepSizeMS();
-            uint8_t dmpGetSampleFrequency();
-            int32_t dmpDecodeTemperature(int8_t tempReg);
-            
-            // Register callbacks after a packet of FIFO data is processed
-            //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
-            //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
-            uint8_t dmpRunFIFORateProcesses();
-            
-            // Setup FIFO for various output
-            uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
-            uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
-            uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
-
-            // Get Fixed Point data from FIFO
-            uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
-            uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
-            uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
-            uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
-            uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
-            uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
-            uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
-            uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
-            uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
-            uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
-            uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
-            uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
-            uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
-            uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
-            uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
-            uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
-            uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
-            uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
-            
-            uint8_t dmpGetEuler(float *data, Quaternion *q);
-            uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
-
-            // Get Floating Point data from FIFO
-            uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
-            uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
-
-            uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
-            uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
-
-            uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
-
-            uint8_t dmpInitFIFOParam();
-            uint8_t dmpCloseFIFO();
-            uint8_t dmpSetGyroDataSource(uint8_t source);
-            uint8_t dmpDecodeQuantizedAccel();
-            uint32_t dmpGetGyroSumOfSquare();
-            uint32_t dmpGetAccelSumOfSquare();
-            void dmpOverrideQuaternion(long *q);
-            uint16_t dmpGetFIFOPacketSize();
-        #endif
-
-        // special methods for MotionApps 4.1 implementation
-        #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41
-            uint8_t *dmpPacketBuffer;
-            uint16_t dmpPacketSize;
-
-            uint8_t dmpInitialize();
-            bool dmpPacketAvailable();
-
-            uint8_t dmpSetFIFORate(uint8_t fifoRate);
-            uint8_t dmpGetFIFORate();
-            uint8_t dmpGetSampleStepSizeMS();
-            uint8_t dmpGetSampleFrequency();
-            int32_t dmpDecodeTemperature(int8_t tempReg);
-            
-            // Register callbacks after a packet of FIFO data is processed
-            //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
-            //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
-            uint8_t dmpRunFIFORateProcesses();
-            
-            // Setup FIFO for various output
-            uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
-            uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
-            uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-            uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
-
-            // Get Fixed Point data from FIFO
-            uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
-            uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
-            uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
-            uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
-            uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
-            uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
-            uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
-            uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
-            uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
-            uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
-            uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
-            uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
-            uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
-            uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
-            uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
-            uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
-            uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
-            uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
-            uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
-            
-            uint8_t dmpGetEuler(float *data, Quaternion *q);
-            uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
-
-            // Get Floating Point data from FIFO
-            uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
-            uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
-
-            uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
-            uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
-
-            uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
-
-            uint8_t dmpInitFIFOParam();
-            uint8_t dmpCloseFIFO();
-            uint8_t dmpSetGyroDataSource(uint8_t source);
-            uint8_t dmpDecodeQuantizedAccel();
-            uint32_t dmpGetGyroSumOfSquare();
-            uint32_t dmpGetAccelSumOfSquare();
-            void dmpOverrideQuaternion(long *q);
-            uint16_t dmpGetFIFOPacketSize();
-        #endif
-
-    private:
-        uint8_t devAddr;
-        uint8_t buffer[14];
-};
-
-#endif /* _MPU6050_H_ */
diff --git a/IMU/MPU6050_6Axis_MotionApps20.h b/IMU/MPU6050_6Axis_MotionApps20.h
deleted file mode 100644
index e14e5f2..0000000
--- a/IMU/MPU6050_6Axis_MotionApps20.h
+++ /dev/null
@@ -1,709 +0,0 @@
-// I2Cdev library collection - MPU6050 I2C device class, 6-axis MotionApps 2.0 implementation
-// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
-// 6/18/2012 by Jeff Rowberg 
-// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
-//
-// Changelog:
-//     ... - ongoing debug release
-
-/* ============================================
-I2Cdev device library code is placed under the MIT license
-Copyright (c) 2012 Jeff Rowberg
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-===============================================
-*/
-
-#ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_
-#define _MPU6050_6AXIS_MOTIONAPPS20_H_
-
-#include "I2Cdev.h"
-#include "helper_3dmath.h"
-
-// MotionApps 2.0 DMP implementation, built using the MPU-6050EVB evaluation board
-#define MPU6050_INCLUDE_DMP_MOTIONAPPS20
-
-#include "MPU6050.h"
-//#include 
-
-/* Source is from the InvenSense MotionApps v2 demo code. Original source is
- * unavailable, unless you happen to be amazing as decompiling binary by
- * hand (in which case, please contact me, and I'm totally serious).
- *
- * Also, I'd like to offer many, many thanks to Noah Zerkin for all of the
- * DMP reverse-engineering he did to help make this bit of wizardry
- * possible.
- */
-
-// NOTE! Enabling DEBUG adds about 3.3kB to the flash program size.
-// Debug output is now working even on ATMega328P MCUs (e.g. Arduino Uno)
-// after moving string constants to flash memory storage using the F()
-// compiler macro (Arduino IDE 1.0+ required).
-
-//#define DEBUG
-#ifdef DEBUG
-    #define DEBUG_PRINT(x) Serial.print(x)
-    #define DEBUG_PRINTF(x, y) Serial.print(x, y)
-    #define DEBUG_PRINTLN(x) Serial.println(x)
-    #define DEBUG_PRINTLNF(x, y) Serial.println(x, y)
-#else
-    #define DEBUG_PRINT(x)
-    #define DEBUG_PRINTF(x, y)
-    #define DEBUG_PRINTLN(x)
-    #define DEBUG_PRINTLNF(x, y)
-#endif
-
-#define MPU6050_DMP_CODE_SIZE       1929    // dmpMemory[]
-#define MPU6050_DMP_CONFIG_SIZE     192     // dmpConfig[]
-#define MPU6050_DMP_UPDATES_SIZE    47      // dmpUpdates[]
-
-/* ================================================================================================ *
- | Default MotionApps v2.0 42-byte FIFO packet structure:                                           |
- |                                                                                                  |
- | [QUAT W][      ][QUAT X][      ][QUAT Y][      ][QUAT Z][      ][GYRO X][      ][GYRO Y][      ] |
- |   0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17  18  19  20  21  22  23  |
- |                                                                                                  |
- | [GYRO Z][      ][ACC X ][      ][ACC Y ][      ][ACC Z ][      ][      ]                         |
- |  24  25  26  27  28  29  30  31  32  33  34  35  36  37  38  39  40  41                          |
- * ================================================================================================ */
-
-#define prog_uchar uint8_t
-#define PROGMEM
-
-
-// this block of memory gets written to the MPU on start-up, and it seems
-// to be volatile memory, so it has to be done each time (it only takes ~1
-// second though)
-const prog_uchar dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
-    // bank 0, 256 bytes
-    0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
-    0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
-    0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,
-    0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00,
-    0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
-    0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,
-    0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,
-    0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,
-    0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10,
-
-    // bank 1, 256 bytes
-    0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,
-    0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,
-    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,
-    0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,
-    0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,
-
-    // bank 2, 256 bytes
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,
-    0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-    // bank 3, 256 bytes
-    0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F,
-    0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2,
-    0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF,
-    0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C,
-    0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1,
-    0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01,
-    0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80,
-    0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C,
-    0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80,
-    0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E,
-    0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9,
-    0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24,
-    0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0,
-    0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86,
-    0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,
-    0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86,
-
-    // bank 4, 256 bytes
-    0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,
-    0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,
-    0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,
-    0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,
-    0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,
-    0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,
-    0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,
-    0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,
-    0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,
-    0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D,
-    0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
-    0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D,
-    0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
-    0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,
-    0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,
-    0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87,
-
-    // bank 5, 256 bytes
-    0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,
-    0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,
-    0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,
-    0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,
-    0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,
-    0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,
-    0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,
-    0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,
-    0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A,
-    0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60,
-    0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97,
-    0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04,
-    0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78,
-    0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79,
-    0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68,
-    0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68,
-
-    // bank 6, 256 bytes
-    0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04,
-    0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66,
-    0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31,
-    0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60,
-    0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76,
-    0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56,
-    0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD,
-    0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91,
-    0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8,
-    0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE,
-    0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9,
-    0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD,
-    0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E,
-    0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8,
-    0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89,
-    0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79,
-
-    // bank 7, 138 bytes (remainder)
-    0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8,
-    0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA,
-    0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB,
-    0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3,
-    0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3,
-    0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
-    0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3,
-    0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC,
-    0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF
-};
-
-
-// DMP FIFO update rate: 0x09 drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
-// 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very
-// noisy data.  DMP output frequency is calculated easily using this equation:
-// (200Hz / (1 + value))
-
-// It is important to make sure the host processor can keep up with reading and
-// processing the FIFO output at the desired rate. Handling FIFO overflow
-// cleanly is also a good idea.  thanks to Noah Zerkin for piecing this stuff
-// together!
-
-#ifndef DMP_FIFO_RATE
-#define DMP_FIFO_RATE	1
-#endif
-
-const prog_uchar dmpConfig[MPU6050_DMP_CONFIG_SIZE] PROGMEM = {
-//  BANK    OFFSET  LENGTH  [DATA]
-    0x03,   0x7B,   0x03,   0x4C, 0xCD, 0x6C,         // FCFG_1 inv_set_gyro_calibration
-    0x03,   0xAB,   0x03,   0x36, 0x56, 0x76,         // FCFG_3 inv_set_gyro_calibration
-    0x00,   0x68,   0x04,   0x02, 0xCB, 0x47, 0xA2,   // D_0_104 inv_set_gyro_calibration
-    0x02,   0x18,   0x04,   0x00, 0x05, 0x8B, 0xC1,   // D_0_24 inv_set_gyro_calibration
-    0x01,   0x0C,   0x04,   0x00, 0x00, 0x00, 0x00,   // D_1_152 inv_set_accel_calibration
-    0x03,   0x7F,   0x06,   0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_accel_calibration
-    0x03,   0x89,   0x03,   0x26, 0x46, 0x66,         // FCFG_7 inv_set_accel_calibration
-    0x00,   0x6C,   0x02,   0x20, 0x00,               // D_0_108 inv_set_accel_calibration
-    0x02,   0x40,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_00 inv_set_compass_calibration
-    0x02,   0x44,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_01
-    0x02,   0x48,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_02
-    0x02,   0x4C,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_10
-    0x02,   0x50,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_11
-    0x02,   0x54,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_12
-    0x02,   0x58,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_20
-    0x02,   0x5C,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_21
-    0x02,   0xBC,   0x04,   0x00, 0x00, 0x00, 0x00,   // CPASS_MTX_22
-    0x01,   0xEC,   0x04,   0x00, 0x00, 0x40, 0x00,   // D_1_236 inv_apply_endian_accel
-    0x03,   0x7F,   0x06,   0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_mpu_sensors
-    0x04,   0x02,   0x03,   0x0D, 0x35, 0x5D,         // CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
-    0x04,   0x09,   0x04,   0x87, 0x2D, 0x35, 0x3D,   // FCFG_5 inv_set_bias_update
-    0x00,   0xA3,   0x01,   0x00,                     // D_0_163 inv_set_dead_zone
-                 // SPECIAL 0x01 = enable interrupts
-    0x00,   0x00,   0x00,   0x01, // SET INT_ENABLE at i=22, SPECIAL INSTRUCTION
-    0x07,   0x86,   0x01,   0xFE,                     // CFG_6 inv_set_fifo_interupt
-    0x07,   0x41,   0x05,   0xF1, 0x20, 0x28, 0x30, 0x38, // CFG_8 inv_send_quaternion
-    0x07,   0x7E,   0x01,   0x30,                     // CFG_16 inv_set_footer
-    0x07,   0x46,   0x01,   0x9A,                     // CFG_GYRO_SOURCE inv_send_gyro
-    0x07,   0x47,   0x04,   0xF1, 0x28, 0x30, 0x38,   // CFG_9 inv_send_gyro -> inv_construct3_fifo
-    0x07,   0x6C,   0x04,   0xF1, 0x28, 0x30, 0x38,   // CFG_12 inv_send_accel -> inv_construct3_fifo
-    0x02,   0x16,   0x02,   0x00, DMP_FIFO_RATE       // D_0_22 inv_set_fifo_rate
-};
-
-const prog_uchar dmpUpdates[MPU6050_DMP_UPDATES_SIZE] PROGMEM = {
-    0x01,   0xB2,   0x02,   0xFF, 0xFF,
-    0x01,   0x90,   0x04,   0x09, 0x23, 0xA1, 0x35,
-    0x01,   0x6A,   0x02,   0x06, 0x00,
-    0x01,   0x60,   0x08,   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00,   0x60,   0x04,   0x40, 0x00, 0x00, 0x00,
-    0x01,   0x62,   0x02,   0x00, 0x00,
-    0x00,   0x60,   0x04,   0x00, 0x40, 0x00, 0x00
-};
-
-uint8_t MPU6050::dmpInitialize() {
-    // reset device
-    DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
-    reset();
-    usleep(30000); // wait after reset
-
-    // enable sleep mode and wake cycle
-    /*Serial.println(F("Enabling sleep mode..."));
-    setSleepEnabled(true);
-    Serial.println(F("Enabling wake cycle..."));
-    setWakeCycleEnabled(true);*/
-
-    // disable sleep mode
-    DEBUG_PRINTLN(F("Disabling sleep mode..."));
-    setSleepEnabled(false);
-
-    // get MPU hardware revision
-    DEBUG_PRINTLN(F("Selecting user bank 16..."));
-    setMemoryBank(0x10, true, true);
-    DEBUG_PRINTLN(F("Selecting memory byte 6..."));
-    setMemoryStartAddress(0x06);
-    DEBUG_PRINTLN(F("Checking hardware revision..."));
-    uint8_t hwRevision __attribute__((__unused__)) = readMemoryByte();
-    DEBUG_PRINT(F("Revision @ user[16][6] = "));
-    DEBUG_PRINTLNF(hwRevision, HEX);
-    DEBUG_PRINTLN(F("Resetting memory bank selection to 0..."));
-    setMemoryBank(0, false, false);
-
-    // check OTP bank valid
-    DEBUG_PRINTLN(F("Reading OTP bank valid flag..."));
-    uint8_t otpValid __attribute__((__unused__)) = getOTPBankValid();
-    DEBUG_PRINT(F("OTP bank is "));
-    DEBUG_PRINTLN(otpValid ? F("valid!") : F("invalid!"));
-
-    // get X/Y/Z gyro offsets
-    DEBUG_PRINTLN(F("Reading gyro offset values..."));
-    int8_t xgOffset = getXGyroOffset();
-    int8_t ygOffset = getYGyroOffset();
-    int8_t zgOffset = getZGyroOffset();
-    DEBUG_PRINT(F("X gyro offset = "));
-    DEBUG_PRINTLN(xgOffset);
-    DEBUG_PRINT(F("Y gyro offset = "));
-    DEBUG_PRINTLN(ygOffset);
-    DEBUG_PRINT(F("Z gyro offset = "));
-    DEBUG_PRINTLN(zgOffset);
-
-    // setup weird slave stuff (?)
-    DEBUG_PRINTLN(F("Setting slave 0 address to 0x7F..."));
-    setSlaveAddress(0, 0x7F);
-    DEBUG_PRINTLN(F("Disabling I2C Master mode..."));
-    setI2CMasterModeEnabled(false);
-    DEBUG_PRINTLN(F("Setting slave 0 address to 0x68 (self)..."));
-    setSlaveAddress(0, 0x68);
-    DEBUG_PRINTLN(F("Resetting I2C Master control..."));
-    resetI2CMaster();
-    usleep(20000);
-
-    // load DMP code into memory banks
-    DEBUG_PRINT(F("Writing DMP code to MPU memory banks ("));
-    DEBUG_PRINT(MPU6050_DMP_CODE_SIZE);
-    DEBUG_PRINTLN(F(" bytes)"));
-    if (writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE)) {
-        printf("Success! DMP code written and verified.\n");
-
-        // write DMP configuration
-        DEBUG_PRINT(F("Writing DMP configuration to MPU memory banks ("));
-        DEBUG_PRINT(MPU6050_DMP_CONFIG_SIZE);
-        DEBUG_PRINTLN(F(" bytes in config def)"));
-        if (writeProgDMPConfigurationSet(dmpConfig, MPU6050_DMP_CONFIG_SIZE)) {
-            printf("Success! DMP configuration written and verified.\n");
-
-            DEBUG_PRINTLN(F("Setting clock source to Z Gyro..."));
-            setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
-
-            DEBUG_PRINTLN(F("Setting DMP and FIFO_OFLOW interrupts enabled..."));
-            setIntEnabled(0x12);
-
-            DEBUG_PRINTLN(F("Setting sample rate to 200Hz..."));
-            setRate(4); // 1khz / (1 + 4) = 200 Hz
-
-            DEBUG_PRINTLN(F("Setting external frame sync to TEMP_OUT_L[0]..."));
-            setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);
-
-            DEBUG_PRINTLN(F("Setting DLPF bandwidth to 42Hz..."));
-            setDLPFMode(MPU6050_DLPF_BW_42);
-
-            DEBUG_PRINTLN(F("Setting gyro sensitivity to +/- 2000 deg/sec..."));
-            setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
-
-            DEBUG_PRINTLN(F("Setting DMP configuration bytes (function unknown)..."));
-            setDMPConfig1(0x03);
-            setDMPConfig2(0x00);
-
-            DEBUG_PRINTLN(F("Clearing OTP Bank flag..."));
-            setOTPBankValid(false);
-
-            DEBUG_PRINTLN(F("Setting X/Y/Z gyro offsets to previous values..."));
-            setXGyroOffset(xgOffset);
-            setYGyroOffset(ygOffset);
-            setZGyroOffset(zgOffset);
-
-            DEBUG_PRINTLN(F("Setting X/Y/Z gyro user offsets to zero..."));
-            setXGyroOffsetUser(0);
-            setYGyroOffsetUser(0);
-            setZGyroOffsetUser(0);
-
-            DEBUG_PRINTLN(F("Writing final memory update 1/7 (function unknown)..."));
-            uint8_t dmpUpdate[16], j;
-            uint16_t pos = 0;
-            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
-            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
-
-            DEBUG_PRINTLN(F("Writing final memory update 2/7 (function unknown)..."));
-            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
-            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
-
-            DEBUG_PRINTLN(F("Resetting FIFO..."));
-            resetFIFO();
-
-            DEBUG_PRINTLN(F("Reading FIFO count..."));
-            uint8_t fifoCount = getFIFOCount();
-            uint8_t fifoBuffer[128];
-
-            printf("Current FIFO count=%d\n", fifoCount);
-            DEBUG_PRINTLN(fifoCount);
-            if (fifoCount > 0)
-		getFIFOBytes(fifoBuffer, fifoCount);
-
-            DEBUG_PRINTLN(F("Setting motion detection threshold to 2..."));
-            setMotionDetectionThreshold(2);
-
-            DEBUG_PRINTLN(F("Setting zero-motion detection threshold to 156..."));
-            setZeroMotionDetectionThreshold(156);
-
-            DEBUG_PRINTLN(F("Setting motion detection duration to 80..."));
-            setMotionDetectionDuration(80);
-
-            DEBUG_PRINTLN(F("Setting zero-motion detection duration to 0..."));
-            setZeroMotionDetectionDuration(0);
-
-            DEBUG_PRINTLN(F("Resetting FIFO..."));
-            resetFIFO();
-
-            DEBUG_PRINTLN(F("Enabling FIFO..."));
-            setFIFOEnabled(true);
-
-            DEBUG_PRINTLN(F("Enabling DMP..."));
-            setDMPEnabled(true);
-
-            DEBUG_PRINTLN(F("Resetting DMP..."));
-            resetDMP();
-
-            DEBUG_PRINTLN(F("Writing final memory update 3/7 (function unknown)..."));
-            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
-            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
-
-            DEBUG_PRINTLN(F("Writing final memory update 4/7 (function unknown)..."));
-            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
-            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
-
-            DEBUG_PRINTLN(F("Writing final memory update 5/7 (function unknown)..."));
-            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
-            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
-
-            printf("Waiting for FIFO count > 2...\n");
-            while ((fifoCount = getFIFOCount()) < 3);
-
-            printf("Current FIFO count=%d",fifoCount);
-            DEBUG_PRINTLN(fifoCount);
-            DEBUG_PRINTLN(F("Reading FIFO data..."));
-            getFIFOBytes(fifoBuffer, fifoCount);
-
-            DEBUG_PRINTLN(F("Reading interrupt status..."));
-            uint8_t mpuIntStatus __attribute__((__unused__)) = getIntStatus();
-
-            DEBUG_PRINT(F("Current interrupt status="));
-            DEBUG_PRINTLNF(mpuIntStatus, HEX);
-
-            DEBUG_PRINTLN(F("Reading final memory update 6/7 (function unknown)..."));
-            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
-            readMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
-
-            DEBUG_PRINTLN(F("Waiting for FIFO count > 2..."));
-            while ((fifoCount = getFIFOCount()) < 3);
-
-            DEBUG_PRINT(F("Current FIFO count="));
-            DEBUG_PRINTLN(fifoCount);
-
-            DEBUG_PRINTLN(F("Reading FIFO data..."));
-            getFIFOBytes(fifoBuffer, fifoCount);
-
-            DEBUG_PRINTLN(F("Reading interrupt status..."));
-            mpuIntStatus = getIntStatus();
-
-            DEBUG_PRINT(F("Current interrupt status="));
-            DEBUG_PRINTLNF(mpuIntStatus, HEX);
-
-            DEBUG_PRINTLN(F("Writing final memory update 7/7 (function unknown)..."));
-            for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
-            writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
-
-            DEBUG_PRINTLN(F("DMP is good to go! Finally."));
-
-            DEBUG_PRINTLN(F("Disabling DMP (you turn it on later)..."));
-            setDMPEnabled(false);
-
-            DEBUG_PRINTLN(F("Setting up internal 42-byte (default) DMP packet buffer..."));
-            dmpPacketSize = 42;
-            /*if ((dmpPacketBuffer = (uint8_t *)malloc(42)) == 0) {
-                return 3; // TODO: proper error code for no memory
-            }*/
-
-            DEBUG_PRINTLN(F("Resetting FIFO and clearing INT status one last time..."));
-            resetFIFO();
-            getIntStatus();
-        } else {
-            DEBUG_PRINTLN(F("ERROR! DMP configuration verification failed."));
-            return 2; // configuration block loading failed
-        }
-    } else {
-        DEBUG_PRINTLN(F("ERROR! DMP code verification failed."));
-        return 1; // main binary block loading failed
-    }
-    return 0; // success
-}
-
-bool MPU6050::dmpPacketAvailable() {
-    return getFIFOCount() >= dmpGetFIFOPacketSize();
-}
-
-// uint8_t MPU6050::dmpSetFIFORate(uint8_t fifoRate);
-// uint8_t MPU6050::dmpGetFIFORate();
-// uint8_t MPU6050::dmpGetSampleStepSizeMS();
-// uint8_t MPU6050::dmpGetSampleFrequency();
-// int32_t MPU6050::dmpDecodeTemperature(int8_t tempReg);
-
-//uint8_t MPU6050::dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
-//uint8_t MPU6050::dmpUnregisterFIFORateProcess(inv_obj_func func);
-//uint8_t MPU6050::dmpRunFIFORateProcesses();
-
-// uint8_t MPU6050::dmpSendQuaternion(uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendPacketNumber(uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
-// uint8_t MPU6050::dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
-
-uint8_t MPU6050::dmpGetAccel(int32_t *data, const uint8_t* packet) {
-    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
-    if (packet == 0) packet = dmpPacketBuffer;
-    data[0] = ((packet[28] << 24) + (packet[29] << 16) + (packet[30] << 8) + packet[31]);
-    data[1] = ((packet[32] << 24) + (packet[33] << 16) + (packet[34] << 8) + packet[35]);
-    data[2] = ((packet[36] << 24) + (packet[37] << 16) + (packet[38] << 8) + packet[39]);
-    return 0;
-}
-uint8_t MPU6050::dmpGetAccel(int16_t *data, const uint8_t* packet) {
-    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
-    if (packet == 0) packet = dmpPacketBuffer;
-    data[0] = (packet[28] << 8) + packet[29];
-    data[1] = (packet[32] << 8) + packet[33];
-    data[2] = (packet[36] << 8) + packet[37];
-    return 0;
-}
-uint8_t MPU6050::dmpGetAccel(VectorInt16 *v, const uint8_t* packet) {
-    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
-    if (packet == 0) packet = dmpPacketBuffer;
-    v -> x = (packet[28] << 8) + packet[29];
-    v -> y = (packet[32] << 8) + packet[33];
-    v -> z = (packet[36] << 8) + packet[37];
-    return 0;
-}
-uint8_t MPU6050::dmpGetQuaternion(int32_t *data, const uint8_t* packet) {
-    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
-    if (packet == 0) packet = dmpPacketBuffer;
-    data[0] = ((packet[0] << 24) + (packet[1] << 16) + (packet[2] << 8) + packet[3]);
-    data[1] = ((packet[4] << 24) + (packet[5] << 16) + (packet[6] << 8) + packet[7]);
-    data[2] = ((packet[8] << 24) + (packet[9] << 16) + (packet[10] << 8) + packet[11]);
-    data[3] = ((packet[12] << 24) + (packet[13] << 16) + (packet[14] << 8) + packet[15]);
-    return 0;
-}
-uint8_t MPU6050::dmpGetQuaternion(int16_t *data, const uint8_t* packet) {
-    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
-    if (packet == 0) packet = dmpPacketBuffer;
-    data[0] = ((packet[0] << 8) + packet[1]);
-    data[1] = ((packet[4] << 8) + packet[5]);
-    data[2] = ((packet[8] << 8) + packet[9]);
-    data[3] = ((packet[12] << 8) + packet[13]);
-    return 0;
-}
-uint8_t MPU6050::dmpGetQuaternion(Quaternion *q, const uint8_t* packet) {
-    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
-    int16_t qI[4];
-    uint8_t status = dmpGetQuaternion(qI, packet);
-    if (status == 0) {
-        q -> w = (float)qI[0] / 16384.0f;
-        q -> x = (float)qI[1] / 16384.0f;
-        q -> y = (float)qI[2] / 16384.0f;
-        q -> z = (float)qI[3] / 16384.0f;
-        return 0;
-    }
-    return status; // int16 return value, indicates error if this line is reached
-}
-// uint8_t MPU6050::dmpGet6AxisQuaternion(long *data, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetRelativeQuaternion(long *data, const uint8_t* packet);
-uint8_t MPU6050::dmpGetGyro(int32_t *data, const uint8_t* packet) {
-    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
-    if (packet == 0) packet = dmpPacketBuffer;
-    data[0] = ((packet[16] << 24) + (packet[17] << 16) + (packet[18] << 8) + packet[19]);
-    data[1] = ((packet[20] << 24) + (packet[21] << 16) + (packet[22] << 8) + packet[23]);
-    data[2] = ((packet[24] << 24) + (packet[25] << 16) + (packet[26] << 8) + packet[27]);
-    return 0;
-}
-uint8_t MPU6050::dmpGetGyro(int16_t *data, const uint8_t* packet) {
-    // TODO: accommodate different arrangements of sent data (ONLY default supported now)
-    if (packet == 0) packet = dmpPacketBuffer;
-    data[0] = (packet[16] << 8) + packet[17];
-    data[1] = (packet[20] << 8) + packet[21];
-    data[2] = (packet[24] << 8) + packet[25];
-    return 0;
-}
-// uint8_t MPU6050::dmpSetLinearAccelFilterCoefficient(float coef);
-// uint8_t MPU6050::dmpGetLinearAccel(long *data, const uint8_t* packet);
-uint8_t MPU6050::dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity) {
-    // get rid of the gravity component (+1g = +4096 in standard DMP FIFO packet)
-    v -> x = vRaw -> x - gravity -> x*4096;
-    v -> y = vRaw -> y - gravity -> y*4096;
-    v -> z = vRaw -> z - gravity -> z*4096;
-    return 0;
-}
-// uint8_t MPU6050::dmpGetLinearAccelInWorld(long *data, const uint8_t* packet);
-uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q) {
-    // rotate measured 3D acceleration vector into original state
-    // frame of reference based on orientation quaternion
-    memcpy(v, vReal, sizeof(VectorInt16));
-    v -> rotate(q);
-    return 0;
-}
-// uint8_t MPU6050::dmpGetGyroAndAccelSensor(long *data, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetGyroSensor(long *data, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
-uint8_t MPU6050::dmpGetGravity(VectorFloat *v, Quaternion *q) {
-    v -> x = 2 * (q -> x*q -> z - q -> w*q -> y);
-    v -> y = 2 * (q -> w*q -> x + q -> y*q -> z);
-    v -> z = q -> w*q -> w - q -> x*q -> x - q -> y*q -> y + q -> z*q -> z;
-    return 0;
-}
-// uint8_t MPU6050::dmpGetUnquantizedAccel(long *data, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetQuantizedAccel(long *data, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetExternalSensorData(long *data, int size, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetEIS(long *data, const uint8_t* packet);
-
-uint8_t MPU6050::dmpGetEuler(float *data, Quaternion *q) {
-    data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);   // psi
-    data[1] = -asin(2*q -> x*q -> z + 2*q -> w*q -> y);                              // theta
-    data[2] = atan2(2*q -> y*q -> z - 2*q -> w*q -> x, 2*q -> w*q -> w + 2*q -> z*q -> z - 1);   // phi
-    return 0;
-}
-uint8_t MPU6050::dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity) {
-    // yaw: (about Z axis)
-    data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);
-    // pitch: (nose up/down, about Y axis)
-    data[1] = atan(gravity -> x / sqrt(gravity -> y*gravity -> y + gravity -> z*gravity -> z));
-    // roll: (tilt left/right, about X axis)
-    data[2] = atan(gravity -> y / sqrt(gravity -> x*gravity -> x + gravity -> z*gravity -> z));
-    return 0;
-}
-
-// uint8_t MPU6050::dmpGetAccelFloat(float *data, const uint8_t* packet);
-// uint8_t MPU6050::dmpGetQuaternionFloat(float *data, const uint8_t* packet);
-
-uint8_t MPU6050::dmpProcessFIFOPacket(const unsigned char *dmpData) {
-    /*for (uint8_t k = 0; k < dmpPacketSize; k++) {
-        if (dmpData[k] < 0x10) Serial.print("0");
-        Serial.print(dmpData[k], HEX);
-        Serial.print(" ");
-    }
-    Serial.print("\n");*/
-    //Serial.println((uint16_t)dmpPacketBuffer);
-    return 0;
-}
-uint8_t MPU6050::dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed) {
-    uint8_t status;
-    uint8_t buf[dmpPacketSize];
-    for (uint8_t i = 0; i < numPackets; i++) {
-        // read packet from FIFO
-        getFIFOBytes(buf, dmpPacketSize);
-
-        // process packet
-        if ((status = dmpProcessFIFOPacket(buf)) > 0) return status;
-        
-        // increment external process count variable, if supplied
-        if (processed != 0) (*processed)++;
-    }
-    return 0;
-}
-
-// uint8_t MPU6050::dmpSetFIFOProcessedCallback(void (*func) (void));
-
-// uint8_t MPU6050::dmpInitFIFOParam();
-// uint8_t MPU6050::dmpCloseFIFO();
-// uint8_t MPU6050::dmpSetGyroDataSource(uint_fast8_t source);
-// uint8_t MPU6050::dmpDecodeQuantizedAccel();
-// uint32_t MPU6050::dmpGetGyroSumOfSquare();
-// uint32_t MPU6050::dmpGetAccelSumOfSquare();
-// void MPU6050::dmpOverrideQuaternion(long *q);
-uint16_t MPU6050::dmpGetFIFOPacketSize() {
-    return dmpPacketSize;
-}
-
-#endif /* _MPU6050_6AXIS_MOTIONAPPS20_H_ */
diff --git a/IMU/MPU6050dmp_tester.cpp b/IMU/MPU6050dmp_tester.cpp
deleted file mode 100644
index 38ce38e..0000000
--- a/IMU/MPU6050dmp_tester.cpp
+++ /dev/null
@@ -1,115 +0,0 @@
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include "I2Cdev.h"
-#include "MPU6050_6Axis_MotionApps20.h"
-#include "wiringPi.h"
-
-#define INTERRUPT_PIN 7 // silkscreen: 4
-#define LED_PIN 6 // silkscreen: 25
-#define SWITCH_PIN // silkscreen: 
-
-MPU6050 mpu; // AD0 pin low
-//MPU6050 mpu(0x69) // AD0 pin high
-
-// MPU control/status vars
-uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
-uint16_t fifoCount;     // count of all bytes currently in FIFO
-uint8_t fifoBuffer[64]; // FIFO storage buffer
-float sensorYaw;
-int32_t
-
-
-// ================================================================
-// ===                   INTERRUPT FUNCTION                     ===
-// ================================================================
-
-void dmpDataReady()
-{
-    fifoCount = mpu.getFIFOCount();
-
-    if (fifoCount == 1024)
-    {
-        // reset so we can continue cleanly
-        mpu.resetFIFO();
-        printf("FIFO overflow!\n");
-    }
-    else if( fifoCount >= 42 )
-    {
-        // orientation/motion vars
-        Quaternion q;           // [w, x, y, z]         quaternion container
-        VectorInt16 aa;         // [x, y, z]            accel sensor measurements
-        VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
-        VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
-        VectorFloat gravity;    // [x, y, z]            gravity vector
-        int32_t[3] accel;
-        //float euler[3];         // [psi, theta, phi]    Euler angle container
-        float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
-        
-        mpu.getFIFOBytes(fifoBuffer, packetSize);
-        mpu.dmpGetQuaternion(&q, fifoBuffer);
-        mpu.dmpGetGravity(&gravity, &q);
-        mpu.dmpGetLinearAccelInWorld( , , &q );
-
-        mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
-        printf("ypr  %7.2f %7.2f %7.2f    ", ypr[0] * 180/M_PI, ypr[1] * 180/M_PI, ypr[2] * 180/M_PI);
-        printf( "\n" );
-        sensorYaw = ypr[0] * 180/M_PI;
-    }
-}
-
-// ================================================================
-// ===                      INITIAL SETUP                       ===
-// ================================================================
-
-void setup()
-{
-    // setup led as output
-    pinMode( LED_PIN, OUTPUT );
-   
-    printf( "Setting up GPIO...\n" );
-    wiringPiSetup();
-    pinMode( INTERRUPT_PIN, INPUT );
-
-    printf("Initializing I2C devices...\n");
-    mpu.initialize();
-
-    printf("Testing device connections...\n");
-    printf(mpu.testConnection() ? "MPU6050 connection successful\n" : "MPU6050 connection failed\n");
-
-    printf("Initializing DMP...\n");
-    uint8_t devStatus = mpu.dmpInitialize();
-
-    if( devStatus == 0 )
-    {
-        printf("Enabling DMP...\n");
-        mpu.setDMPEnabled(true);
-
-        printf( "Enabling external interrupt on pin %d\n", INTERRUPT_PIN);
-        wiringPiISR( INTERRUPT_PIN, INT_EDGE_RISING, dmpDataReady );
-
-        printf("DMP ready!\n");
-
-        packetSize = mpu.dmpGetFIFOPacketSize();
-    }
-    else
-    {
-        printf("DMP Initialization failed (code %d)\n", devStatus);
-    }
-}
-
-// ================================================================
-// ===                    MAIN PROGRAM LOOP                     ===
-// ================================================================
-
-int main( int argc, char* argv[] )
-{
-    setup();
-    usleep(100000);
-    while(1)
-    {}
-    return 0;
-}
diff --git a/IMU/Makefile b/IMU/Makefile
deleted file mode 100644
index 5a53fe0..0000000
--- a/IMU/Makefile
+++ /dev/null
@@ -1,12 +0,0 @@
-all: MPU6050dmp_tester
-
-HDRS = helper_3dmath.h I2Cdev.h MPU6050_6Axis_MotionApps20.h MPU6050.h
-CXXFLAGS = -DDMP_FIFO_RATE=9 -Wall
-
-I2Cdev.o MPU6050.o MPU6050dmp_tester.o: $(HDRS)
-
-MPU6050dmp_tester: I2Cdev.o MPU6050.o MPU6050dmp_tester.o
-	$(CXX) $^ -lm `pkg-config gtkmm-3.0 --cflags --libs` -lwiringPi -o $@
-
-clean:
-	rm I2Cdev.o MPU6050.o MPU6050dmp.o MPU6050dmp_tester.o MPU6050dmp_tester
\ No newline at end of file
diff --git a/IMU/helper_3dmath.h b/IMU/helper_3dmath.h
deleted file mode 100644
index 9ed260e..0000000
--- a/IMU/helper_3dmath.h
+++ /dev/null
@@ -1,216 +0,0 @@
-// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class, 3D math helper
-// 6/5/2012 by Jeff Rowberg 
-// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
-//
-// Changelog:
-//     2012-06-05 - add 3D math helper file to DMP6 example sketch
-
-/* ============================================
-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 _HELPER_3DMATH_H_
-#define _HELPER_3DMATH_H_
-
-class Quaternion {
-    public:
-        float w;
-        float x;
-        float y;
-        float z;
-        
-        Quaternion() {
-            w = 1.0f;
-            x = 0.0f;
-            y = 0.0f;
-            z = 0.0f;
-        }
-        
-        Quaternion(float nw, float nx, float ny, float nz) {
-            w = nw;
-            x = nx;
-            y = ny;
-            z = nz;
-        }
-
-        Quaternion getProduct(Quaternion q) {
-            // Quaternion multiplication is defined by:
-            //     (Q1 * Q2).w = (w1w2 - x1x2 - y1y2 - z1z2)
-            //     (Q1 * Q2).x = (w1x2 + x1w2 + y1z2 - z1y2)
-            //     (Q1 * Q2).y = (w1y2 - x1z2 + y1w2 + z1x2)
-            //     (Q1 * Q2).z = (w1z2 + x1y2 - y1x2 + z1w2
-            return Quaternion(
-                w*q.w - x*q.x - y*q.y - z*q.z,  // new w
-                w*q.x + x*q.w + y*q.z - z*q.y,  // new x
-                w*q.y - x*q.z + y*q.w + z*q.x,  // new y
-                w*q.z + x*q.y - y*q.x + z*q.w); // new z
-        }
-
-        Quaternion getConjugate() {
-            return Quaternion(w, -x, -y, -z);
-        }
-        
-        float getMagnitude() {
-            return sqrt(w*w + x*x + y*y + z*z);
-        }
-        
-        void normalize() {
-            float m = getMagnitude();
-            w /= m;
-            x /= m;
-            y /= m;
-            z /= m;
-        }
-        
-        Quaternion getNormalized() {
-            Quaternion r(w, x, y, z);
-            r.normalize();
-            return r;
-        }
-};
-
-class VectorInt16 {
-    public:
-        int16_t x;
-        int16_t y;
-        int16_t z;
-
-        VectorInt16() {
-            x = 0;
-            y = 0;
-            z = 0;
-        }
-        
-        VectorInt16(int16_t nx, int16_t ny, int16_t nz) {
-            x = nx;
-            y = ny;
-            z = nz;
-        }
-
-        float getMagnitude() {
-            return sqrt(x*x + y*y + z*z);
-        }
-
-        void normalize() {
-            float m = getMagnitude();
-            x /= m;
-            y /= m;
-            z /= m;
-        }
-        
-        VectorInt16 getNormalized() {
-            VectorInt16 r(x, y, z);
-            r.normalize();
-            return r;
-        }
-        
-        void rotate(Quaternion *q) {
-            // http://www.cprogramming.com/tutorial/3d/quaternions.html
-            // http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm
-            // http://content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation
-            // ^ or: http://webcache.googleusercontent.com/search?q=cache:xgJAp3bDNhQJ:content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation&hl=en&gl=us&strip=1
-        
-            // P_out = q * P_in * conj(q)
-            // - P_out is the output vector
-            // - q is the orientation quaternion
-            // - P_in is the input vector (a*aReal)
-            // - conj(q) is the conjugate of the orientation quaternion (q=[w,x,y,z], q*=[w,-x,-y,-z])
-            Quaternion p(0, x, y, z);
-
-            // quaternion multiplication: q * p, stored back in p
-            p = q -> getProduct(p);
-
-            // quaternion multiplication: p * conj(q), stored back in p
-            p = p.getProduct(q -> getConjugate());
-
-            // p quaternion is now [0, x', y', z']
-            x = p.x;
-            y = p.y;
-            z = p.z;
-        }
-
-        VectorInt16 getRotated(Quaternion *q) {
-            VectorInt16 r(x, y, z);
-            r.rotate(q);
-            return r;
-        }
-};
-
-class VectorFloat {
-    public:
-        float x;
-        float y;
-        float z;
-
-        VectorFloat() {
-            x = 0;
-            y = 0;
-            z = 0;
-        }
-        
-        VectorFloat(float nx, float ny, float nz) {
-            x = nx;
-            y = ny;
-            z = nz;
-        }
-
-        float getMagnitude() {
-            return sqrt(x*x + y*y + z*z);
-        }
-
-        void normalize() {
-            float m = getMagnitude();
-            x /= m;
-            y /= m;
-            z /= m;
-        }
-        
-        VectorFloat getNormalized() {
-            VectorFloat r(x, y, z);
-            r.normalize();
-            return r;
-        }
-        
-        void rotate(Quaternion *q) {
-            Quaternion p(0, x, y, z);
-
-            // quaternion multiplication: q * p, stored back in p
-            p = q -> getProduct(p);
-
-            // quaternion multiplication: p * conj(q), stored back in p
-            p = p.getProduct(q -> getConjugate());
-
-            // p quaternion is now [0, x', y', z']
-            x = p.x;
-            y = p.y;
-            z = p.z;
-        }
-
-        VectorFloat getRotated(Quaternion *q) {
-            VectorFloat r(x, y, z);
-            r.rotate(q);
-            return r;
-        }
-};
-
-#endif /* _HELPER_3DMATH_H_ */
\ No newline at end of file
diff --git a/IMU/setup-i2c.sh b/IMU/setup-i2c.sh
deleted file mode 100755
index 1ff0b66..0000000
--- a/IMU/setup-i2c.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/bin/bash
-
-# This little script ensures that the kernel I2C drivers are loaded, and it
-# changes permissions on /dev/i2c-0 so you can run the demos as a regular
-# user
-
-sudo modprobe i2c-dev
-sudo modprobe i2c-bcm2708
-sleep 0.1
-sudo chmod 666 /dev/i2c-0