public class MPU6050 extends I2C implements IAccelerometer
| Modifier and Type | Class and Description |
|---|---|
static class |
MPU6050.ClockSpeed
I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
MPU-60X0 internal 8MHz clock.
|
static class |
MPU6050.DHPFilterMode
Enum representation of High-Pass filter values.
|
static class |
MPU6050.DLPFilterMode
Enum representation of Low-Pass Filter values
The DLPF_CFG parameter sets the digital low pass filter configuration.
|
static class |
MPU6050.EXTFrameSyncBitLocation
Configures the external Frame Synchronization (FSYNC) pin sampling.
|
static class |
MPU6050.GyroClockSource
Enum representation of the Clock Source values.
|
static class |
MPU6050.GyroRange
Enum representation of Gyro range values.
|
Interface.InterfaceTypeIAccelerometer.AccelRangem_ifaceType, MAX_ANALOG_IN_CHANNELS, MAX_ANALOG_OUT_CHANNELS, MAX_DIGITAL_CHANNELS, MAX_PWM_CHANNELS, MAX_RELAY_CHANNELS| Constructor and Description |
|---|
MPU6050(I2C.Port port)
Default constructor, uses default I2C address.
|
MPU6050(I2C.Port port,
byte addr)
Specific address constructor.
|
| Modifier and Type | Method and Description |
|---|---|
byte |
dmpGetAccel(int[] data,
byte[] packet) |
byte |
dmpGetAccel(short[] data,
byte[] packet) |
byte |
dmpGetAccel(VectorInt16 v,
byte[] packet) |
byte |
dmpGetEuler(double[] data,
Quaternion q) |
short |
dmpGetFIFOPacketSize() |
byte |
dmpGetGravity(VectorDouble v,
Quaternion q) |
byte |
dmpGetGyro(int[] data,
byte[] packet) |
byte |
dmpGetGyro(short[] data,
byte[] packet) |
byte |
dmpGetGyro(VectorInt16 v,
byte[] packet) |
byte |
dmpGetLinearAccel(VectorInt16 v,
VectorInt16 vRaw,
VectorDouble gravity) |
byte |
dmpGetLinearAccelInWorld(VectorInt16 v,
VectorInt16 vReal,
Quaternion q) |
byte |
dmpGetQuaternion(int[] data,
byte[] packet) |
byte |
dmpGetQuaternion(Quaternion q,
byte[] packet) |
byte |
dmpGetQuaternion(short[] data,
byte[] packet) |
byte |
dmpGetYawPitchRoll(double[] data,
Quaternion q,
VectorDouble gravity) |
byte |
dmpInitialize() |
(package private) boolean |
dmpPacketAvailable() |
byte |
dmpProcessFIFOPacket(byte[] dmpData) |
byte |
dmpReadAndProcessFIFOPacket(byte numPackets,
byte processed) |
double[] |
getAcceleration()
Get 3-axis accelerometer readings.
|
double |
getAccelerationX()
Get X-axis accelerometer reading.
|
double |
getAccelerationY()
Get Y-axis accelerometer reading.
|
double |
getAccelerationZ()
Get Z-axis accelerometer reading.
|
byte |
getAccelerometerPowerOnDelay()
Get accelerometer power-on delay.
|
boolean |
getAccelFIFOEnabled()
Get accelerometer FIFO enabled value.
|
IAccelerometer.AccelRange |
getAccelRange() |
boolean |
getAccelXSelfTest()
Get self-test enabled setting for accelerometer X axis.
|
boolean |
getAccelYSelfTest()
Get self-test enabled value for accelerometer Y axis.
|
boolean |
getAccelZSelfTest()
Get self-test enabled value for accelerometer Z axis.
|
byte |
getAuxVDDIOLevel()
Get the auxiliary I2C supply voltage level.
|
boolean |
getClockOutputEnabled()
Get reference clock output enabled status.
|
MPU6050.GyroClockSource |
getClockSource()
Get clock source setting.
|
byte |
getDeviceID()
Get Device ID.
|
MPU6050.DHPFilterMode |
getDHPFMode()
Get the high-pass filter configuration.
|
MPU6050.DLPFilterMode |
getDLPFMode()
Get digital low-pass filter configuration.
|
byte |
getDMPConfig1() |
byte |
getDMPConfig2() |
boolean |
getDMPEnabled() |
boolean |
getDMPInt0Status() |
boolean |
getDMPInt1Status() |
boolean |
getDMPInt2Status() |
boolean |
getDMPInt3Status() |
boolean |
getDMPInt4Status() |
boolean |
getDMPInt5Status() |
MPU6050.EXTFrameSyncBitLocation |
getExternalFrameSync()
Get external FSYNC configuration.
|
byte |
getExternalSensorByte(int position)
Read single byte from external sensor data register.
|
int |
getExternalSensorDWord(int position)
Read double word (4 bytes) from external sensor data registers.
|
short |
getExternalSensorWord(int position)
Read word (2 bytes) from external sensor data registers.
|
boolean |
getExternalShadowDelayEnabled()
Get external data shadow delay enabled status.
|
byte |
getFIFOByte()
Get byte from FIFO buffer.
|
void |
getFIFOBytes(byte[] data,
short length) |
short |
getFIFOCount()
Get current FIFO buffer size.
|
boolean |
getFIFOEnabled()
Get FIFO enabled status.
|
byte |
getFreefallDetectionCounterDecrement()
Get Free Fall detection counter decrement configuration.
|
byte |
getFreefallDetectionDuration()
Get free-fall event duration threshold.
|
byte |
getFreefallDetectionThreshold()
Get free-fall event acceleration threshold.
|
boolean |
getFSyncInterruptEnabled()
Get FSYNC pin interrupt enabled setting.
|
boolean |
getFSyncInterruptLevel()
Get FSYNC interrupt logic level mode.
|
IAccelerometer.AccelRange |
getFullScaleAccelRange()
Get full-scale accelerometer range.
|
MPU6050.GyroRange |
getFullScaleGyroRange()
Get full-scale gyroscope range.
|
boolean |
getI2CBypassEnabled()
Get I2C bypass enabled status.
|
boolean |
getI2CMasterModeEnabled()
Get I2C Master Mode enabled status.
|
boolean |
getIntDataReadyEnabled()
Get Data Ready interrupt enabled setting.
|
boolean |
getIntDataReadyStatus()
Get Data Ready interrupt status.
|
boolean |
getIntDMPEnabled() |
boolean |
getIntDMPStatus() |
byte |
getIntEnabled()
Get full interrupt enabled status.
|
boolean |
getInterruptDrive()
Get interrupt drive mode.
|
boolean |
getInterruptLatch()
Get interrupt latch mode.
|
boolean |
getInterruptLatchClear()
Get interrupt latch clear mode.
|
boolean |
getInterruptMode()
Get interrupt logic level mode.
|
boolean |
getIntFIFOBufferOverflowEnabled()
Get FIFO Buffer Overflow interrupt enabled status.
|
boolean |
getIntFIFOBufferOverflowStatus()
Get FIFO Buffer Overflow interrupt status.
|
boolean |
getIntFreefallEnabled()
Get Free Fall interrupt enabled status.
|
boolean |
getIntFreefallStatus()
Get Free Fall interrupt status.
|
boolean |
getIntI2CMasterEnabled()
Get I2C Master interrupt enabled status.
|
boolean |
getIntI2CMasterStatus()
Get I2C Master interrupt status.
|
boolean |
getIntMotionEnabled()
Get Motion Detection interrupt enabled status.
|
boolean |
getIntMotionStatus()
Get Motion Detection interrupt status.
|
boolean |
getIntPLLReadyEnabled() |
boolean |
getIntPLLReadyStatus() |
byte |
getIntStatus()
Get full set of interrupt status bits.
|
boolean |
getIntZeroMotionEnabled()
Get Zero Motion Detection interrupt enabled status.
|
boolean |
getIntZeroMotionStatus()
Get Zero Motion Detection interrupt status.
|
boolean |
getLostArbitration()
Get master arbitration lost status.
|
MPU6050.ClockSpeed |
getMasterClockSpeed()
Get I2C master clock speed.
|
short[] |
getMotion6()
Get raw 6-axis motion sensor readings (accel/gyro).
|
short[] |
getMotion9()
Get raw 9-axis motion sensor readings (accel/gyro/compass).
|
byte |
getMotionDetectionCounterDecrement()
Get Motion detection counter decrement configuration.
|
byte |
getMotionDetectionDuration()
Get motion detection event duration threshold.
|
byte |
getMotionDetectionThreshold()
Get motion detection event acceleration threshold.
|
boolean |
getMultiMasterEnabled()
Get multi-master enabled value.
|
byte |
getOTPBankValid() |
boolean |
getPassthroughStatus()
Get FSYNC interrupt status.
|
byte |
getRate()
Get gyroscope output rate divider.
|
double[] |
getRotation()
Get 3-axis gyroscope readings.
|
short |
getRotationX()
Get X-axis gyroscope reading.
|
short |
getRotationY()
Get Y-axis gyroscope reading.
|
short |
getRotationZ()
Get Z-axis gyroscope reading.
|
byte |
getSlate4InputByte()
Get last available byte read from Slave 4.
|
boolean |
getSlave0FIFOEnabled()
Get Slave 0 FIFO enabled value.
|
boolean |
getSlave0Nack()
Get Slave 0 NACK status.
|
boolean |
getSlave1FIFOEnabled()
Get Slave 1 FIFO enabled value.
|
boolean |
getSlave1Nack()
Get Slave 1 NACK status.
|
boolean |
getSlave2FIFOEnabled()
Get Slave 2 FIFO enabled value.
|
boolean |
getSlave2Nack()
Get Slave 2 NACK status.
|
boolean |
getSlave3FIFOEnabled()
Get Slave 3 FIFO enabled value.
|
boolean |
getSlave3Nack()
Get Slave 3 NACK status.
|
byte |
getSlave4Address()
Get the I2C address of Slave 4.
|
boolean |
getSlave4Enabled()
Get the enabled value for the Slave 4.
|
boolean |
getSlave4InterruptEnabled()
Get the enabled value for Slave 4 transaction interrupts.
|
boolean |
getSlave4IsDone()
Get Slave 4 transaction done status.
|
byte |
getSlave4MasterDelay()
Get Slave 4 master delay value.
|
boolean |
getSlave4Nack()
Get Slave 4 NACK status.
|
byte |
getSlave4Register()
Get the active internal register for the Slave 4.
|
boolean |
getSlave4WriteMode()
Get write mode for Slave 4.
|
byte |
getSlaveAddress(byte num)
Get the I2C address of the specified slave (0-3).
|
byte |
getSlaveDataLength(byte num)
Get number of bytes to read for the specified slave (0-3).
|
boolean |
getSlaveDelayEnabled(byte num)
Get slave delay enabled status.
|
boolean |
getSlaveEnabled(byte num)
Get the enabled value for the specified slave (0-3).
|
boolean |
getSlaveReadWriteTransitionEnabled()
Get slave read/write transition enabled value.
|
byte |
getSlaveRegister(byte num)
Get the active internal register for the specified slave (0-3).
|
boolean |
getSlaveWordByteSwap(byte num)
Get word pair byte-swapping enabled for the specified slave (0-3).
|
boolean |
getSlaveWordGroupOffset(byte num)
Get word pair grouping order offset for the specified slave (0-3).
|
boolean |
getSlaveWriteMode(byte num)
Get write mode for the specified slave (0-3).
|
boolean |
getSleepEnabled()
Get sleep mode status.
|
boolean |
getStandbyXAccelEnabled()
Get X-axis accelerometer standby enabled status.
|
boolean |
getStandbyXGyroEnabled()
Get X-axis gyroscope standby enabled status.
|
boolean |
getStandbyYAccelEnabled()
Get Y-axis accelerometer standby enabled status.
|
boolean |
getStandbyYGyroEnabled()
Get Y-axis gyroscope standby enabled status.
|
boolean |
getStandbyZAccelEnabled()
Get Z-axis accelerometer standby enabled status.
|
boolean |
getStandbyZGyroEnabled()
Get Z-axis gyroscope standby enabled status.
|
double |
getTemperature()
Get current internal temperature.
|
boolean |
getTempFIFOEnabled()
Get temperature FIFO enabled value.
|
boolean |
getTempSensorEnabled()
Get temperature sensor enabled status.
|
boolean |
getWaitForExternalSensorEnabled()
Get wait-for-external-sensor-data enabled value.
|
boolean |
getWakeCycleEnabled()
Get wake cycle enabled status.
|
byte |
getWakeFrequency()
Get wake frequency in Accel-Only Low Power Mode.
|
short |
getXAccelOffset() |
byte |
getXFineGain() |
boolean |
getXGyroFIFOEnabled()
Get gyroscope X-axis FIFO enabled value.
|
short |
getXGyroOffset() |
byte |
getXGyroOffsetTC() |
boolean |
getXNegMotionDetected()
Get X-axis negative motion detection interrupt status.
|
boolean |
getXPosMotionDetected()
Get X-axis positive motion detection interrupt status.
|
short |
getYAccelOffset() |
byte |
getYFineGain() |
boolean |
getYGyroFIFOEnabled()
Get gyroscope Y-axis FIFO enabled value.
|
short |
getYGyroOffset() |
byte |
getYGyroOffsetTC() |
boolean |
getYNegMotionDetected()
Get Y-axis negative motion detection interrupt status.
|
boolean |
getYPosMotionDetected()
Get Y-axis positive motion detection interrupt status.
|
short |
getZAccelOffset() |
boolean |
getZeroMotionDetected()
Get zero motion detection interrupt status.
|
byte |
getZeroMotionDetectionDuration()
Get zero motion detection event duration threshold.
|
byte |
getZeroMotionDetectionThreshold()
Get zero motion detection event acceleration threshold.
|
byte |
getZFineGain() |
boolean |
getZGyroFIFOEnabled()
Get gyroscope Z-axis FIFO enabled value.
|
short |
getZGyroOffset() |
byte |
getZGyroOffsetTC() |
boolean |
getZNegMotionDetected()
Get Z-axis negative motion detection interrupt status.
|
boolean |
getZPosMotionDetected()
Get Z-axis positive motion detection interrupt status.
|
void |
initialize()
Power on and prepare for general usage.
|
void |
readMemoryBlock(byte[] data,
short dataSize,
byte bank,
byte address) |
byte |
readMemoryByte() |
void |
reset()
Trigger a full device reset.
|
void |
resetAccelerometerPath()
Reset accelerometer signal path.
|
void |
resetDMP() |
void |
resetFIFO()
Reset the FIFO.
|
void |
resetGyroscopePath()
Reset gyroscope signal path.
|
void |
resetI2CMaster()
Reset the I2C Master.
|
void |
resetSensors()
Reset all sensor registers and signal paths.
|
void |
resetTemperaturePath()
Reset temperature sensor signal path.
|
void |
setAccelerometerPowerOnDelay(byte delay)
Set accelerometer power-on delay.
|
void |
setAccelFIFOEnabled(boolean enabled)
Set accelerometer FIFO enabled value.
|
void |
setAccelRange(IAccelerometer.AccelRange range) |
void |
setAccelXSelfTest(boolean enabled)
Get self-test enabled setting for accelerometer X axis.
|
void |
setAccelYSelfTest(boolean enabled)
Get self-test enabled value for accelerometer Y axis.
|
void |
setAccelZSelfTest(boolean enabled)
Set self-test enabled value for accelerometer Z axis.
|
void |
setAuxVDDIOLevel(byte level)
Set the auxiliary I2C supply voltage level.
|
void |
setClockOutputEnabled(boolean enabled)
Set reference clock output enabled status.
|
void |
setClockSource(MPU6050.GyroClockSource source)
Set clock source setting.
|
void |
setDeviceID(byte id)
Set Device ID.
|
void |
setDHPFMode(MPU6050.DHPFilterMode bandwidth)
Set the high-pass filter configuration.
|
void |
setDLPFMode(MPU6050.DLPFilterMode mode)
Set digital low-pass filter configuration.
|
void |
setDMPConfig1(byte config) |
void |
setDMPConfig2(byte config) |
void |
setDMPEnabled(boolean enabled)
Enable the Digital Motion Processor (DMP/DMPU)
|
void |
setExternalFrameSync(MPU6050.EXTFrameSyncBitLocation sync)
Set external FSYNC configuration.
|
void |
setExternalShadowDelayEnabled(boolean enabled)
Set external data shadow delay enabled status.
|
void |
setFIFOByte(byte data)
Write byte to FIFO buffer.
|
void |
setFIFOEnabled(boolean enabled)
Set FIFO enabled status.
|
void |
setFreefallDetectionCounterDecrement(byte decrement)
Set Free Fall detection counter decrement configuration.
|
void |
setFreefallDetectionDuration(byte duration)
Get free-fall event duration threshold.
|
void |
setFreefallDetectionThreshold(byte threshold)
Get free-fall event acceleration threshold.
|
void |
setFSyncInterruptEnabled(boolean enabled)
Set FSYNC pin interrupt enabled setting.
|
void |
setFSyncInterruptLevel(boolean level)
Set FSYNC interrupt logic level mode.
|
void |
setFullScaleAccelRange(IAccelerometer.AccelRange range)
Set full-scale accelerometer range.
|
void |
setFullScaleGyroRange(MPU6050.GyroRange range)
Set full-scale gyroscope range.
|
void |
setI2CBypassEnabled(boolean enabled)
Set I2C bypass enabled status.
|
void |
setI2CMasterModeEnabled(boolean enabled)
Set I2C Master Mode enabled status.
|
void |
setIntDataReadyEnabled(boolean enabled)
Set Data Ready interrupt enabled status.
|
void |
setIntDMPEnabled(boolean enabled) |
void |
setIntEnabled(byte enabled)
Set full interrupt enabled status.
|
void |
setInterruptDrive(boolean drive)
Set interrupt drive mode.
|
void |
setInterruptLatch(boolean latch)
Set interrupt latch mode.
|
void |
setInterruptLatchClear(boolean clear)
Set interrupt latch clear mode.
|
void |
setInterruptMode(boolean mode)
Set interrupt logic level mode.
|
void |
setIntFIFOBufferOverflowEnabled(boolean enabled)
Set FIFO Buffer Overflow interrupt enabled status.
|
void |
setIntFreefallEnabled(boolean enabled)
Set Free Fall interrupt enabled status.
|
void |
setIntI2CMasterEnabled(boolean enabled)
Set I2C Master interrupt enabled status.
|
void |
setIntMotionEnabled(boolean enabled)
Set Motion Detection interrupt enabled status.
|
void |
setIntPLLReadyEnabled(boolean enabled) |
void |
setIntZeroMotionEnabled(boolean enabled)
Set Zero Motion Detection interrupt enabled status.
|
void |
setMasterClockSpeed(MPU6050.ClockSpeed speed)
Set I2C master clock speed.
|
void |
setMemoryBank(byte bank) |
void |
setMemoryBank(byte bank,
boolean prefetchEnabled,
boolean userBank) |
void |
setMemoryStartAddress(byte address) |
void |
setMotionDetectionCounterDecrement(byte decrement)
Set Motion detection counter decrement configuration.
|
void |
setMotionDetectionDuration(byte duration)
Set motion detection event duration threshold.
|
void |
setMotionDetectionThreshold(byte threshold)
Set free-fall event acceleration threshold.
|
void |
setMultiMasterEnabled(boolean enabled)
Set multi-master enabled value.
|
void |
setOTPBankValid(boolean enabled) |
void |
setRate(byte rate)
Set gyroscope sample rate divider.
|
void |
setSlave0FIFOEnabled(boolean enabled)
Set Slave 0 FIFO enabled value.
|
void |
setSlave1FIFOEnabled(boolean enabled)
Set Slave 1 FIFO enabled value.
|
void |
setSlave2FIFOEnabled(boolean enabled)
Set Slave 2 FIFO enabled value.
|
void |
setSlave3FIFOEnabled(boolean enabled)
Set Slave 3 FIFO enabled value.
|
void |
setSlave4Address(byte address)
Set the I2C address of Slave 4.
|
void |
setSlave4Enabled(boolean enabled)
Set the enabled value for Slave 4.
|
void |
setSlave4InterruptEnabled(boolean enabled)
Set the enabled value for Slave 4 transaction interrupts.
|
void |
setSlave4MasterDelay(byte delay)
Set Slave 4 master delay value.
|
void |
setSlave4OutputByte(byte data)
Set new byte to write to Slave 4.
|
void |
setSlave4Register(byte reg)
Set the active internal register for Slave 4.
|
void |
setSlave4WriteMode(boolean mode)
Set write mode for the Slave 4.
|
void |
setSlaveAddress(byte num,
byte address)
Set the I2C address of the specified slave (0-3).
|
void |
setSlaveDataLength(byte num,
byte length)
Set number of bytes to read for the specified slave (0-3).
|
void |
setSlaveDelayEnabled(byte num,
boolean enabled)
Set slave delay enabled status.
|
void |
setSlaveEnabled(byte num,
boolean enabled)
Set the enabled value for the specified slave (0-3).
|
void |
setSlaveOutputByte(byte num,
byte data)
Write byte to Data Output container for specified slave.
|
void |
setSlaveReadWriteTransitionEnabled(boolean enabled)
Set slave read/write transition enabled value.
|
void |
setSlaveRegister(byte num,
byte reg)
Set the active internal register for the specified slave (0-3).
|
void |
setSlaveWordByteSwap(byte num,
boolean enabled)
Set word pair byte-swapping enabled for the specified slave (0-3).
|
void |
setSlaveWordGroupOffset(byte num,
boolean enabled)
Set word pair grouping order offset for the specified slave (0-3).
|
void |
setSlaveWriteMode(byte num,
boolean mode)
Set write mode for the specified slave (0-3).
|
void |
setSleepEnabled(boolean enabled)
Set sleep mode status.
|
void |
setStandbyXAccelEnabled(boolean enabled)
Set X-axis accelerometer standby enabled status.
|
void |
setStandbyXGyroEnabled(boolean enabled)
Set X-axis gyroscope standby enabled status.
|
void |
setStandbyYAccelEnabled(boolean enabled)
Set Y-axis accelerometer standby enabled status.
|
void |
setStandbyYGyroEnabled(boolean enabled)
Set Y-axis gyroscope standby enabled status.
|
void |
setStandbyZAccelEnabled(boolean enabled)
Set Z-axis accelerometer standby enabled status.
|
void |
setStandbyZGyroEnabled(boolean enabled)
Set Z-axis gyroscope standby enabled status.
|
void |
setTempFIFOEnabled(boolean enabled)
Set temperature FIFO enabled value.
|
void |
setTempSensorEnabled(boolean enabled)
Set temperature sensor enabled status.
|
void |
setWaitForExternalSensorEnabled(boolean enabled)
Set wait-for-external-sensor-data enabled value.
|
void |
setWakeCycleEnabled(boolean enabled)
Set wake cycle enabled status.
|
void |
setWakeFrequency(byte frequency)
Set wake frequency in Accel-Only Low Power Mode.
|
void |
setXAccelOffset(int offset) |
void |
setXFineGain(byte gain) |
void |
setXGyroFIFOEnabled(boolean enabled)
Set gyroscope X-axis FIFO enabled value.
|
void |
setXGyroOffset(int offset) |
void |
setXGyroOffsetTC(byte offset) |
void |
setYAccelOffset(int offset) |
void |
setYFineGain(byte gain) |
void |
setYGyroFIFOEnabled(boolean enabled)
Set gyroscope Y-axis FIFO enabled value.
|
void |
setYGyroOffset(int offset) |
void |
setYGyroOffsetTC(byte offset) |
void |
setZAccelOffset(int offset) |
void |
setZeroMotionDetectionDuration(byte duration)
Set zero motion detection event duration threshold.
|
void |
setZeroMotionDetectionThreshold(byte threshold)
Set zero motion detection event acceleration threshold.
|
void |
setZFineGain(byte gain) |
void |
setZGyroFIFOEnabled(boolean enabled)
Set gyroscope Z-axis FIFO enabled value.
|
void |
setZGyroOffset(int offset) |
void |
setZGyroOffsetTC(byte offset) |
void |
switchSPIEnabled(boolean 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.
|
boolean |
testConnection()
Verify the I2C connection.
|
boolean |
writeDMPConfigurationSet(byte[] data,
short dataSize) |
boolean |
writeMemoryBlock(byte[] data,
short dataSize,
byte bank,
byte address,
boolean verify) |
void |
writeMemoryByte(byte data) |
boolean |
writeProgDMPConfigurationSet(byte[] data,
short dataSize) |
boolean |
writeProgMemoryBlock(byte[] data,
short dataSize,
byte bank,
byte address,
boolean verify) |
broadcast, checkAddress, free, read, readBit, readBit, readBits, readByte, readBytes, readOnly, readWord, readWords, transaction, verifySensor, write, writeBit, writeBit, writeBits, writeBulk, writeByte, writeBytes, writeWord, writeWordsallocateMXPPin, checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPWMChannel, checkRelayChannel, freeMXPPin, getInterfaceTypeprivate static final byte MPU6050_ADDRESS_AD0_LOW
private static final byte MPU6050_ADDRESS_AD0_HIGH
private static final byte MPU6050_DEFAULT_ADDRESS
private static final byte MPU6050_RA_XG_OFFS_TC
private static final byte MPU6050_RA_YG_OFFS_TC
private static final byte MPU6050_RA_ZG_OFFS_TC
private static final byte MPU6050_RA_X_FINE_GAIN
private static final byte MPU6050_RA_Y_FINE_GAIN
private static final byte MPU6050_RA_Z_FINE_GAIN
private static final byte MPU6050_RA_XA_OFFS_H
private static final byte MPU6050_RA_XA_OFFS_L_TC
private static final byte MPU6050_RA_YA_OFFS_H
private static final byte MPU6050_RA_YA_OFFS_L_TC
private static final byte MPU6050_RA_ZA_OFFS_H
private static final byte MPU6050_RA_ZA_OFFS_L_TC
private static final byte MPU6050_RA_XG_OFFS_USRH
private static final byte MPU6050_RA_XG_OFFS_USRL
private static final byte MPU6050_RA_YG_OFFS_USRH
private static final byte MPU6050_RA_YG_OFFS_USRL
private static final byte MPU6050_RA_ZG_OFFS_USRH
private static final byte MPU6050_RA_ZG_OFFS_USRL
private static final byte MPU6050_RA_SMPLRT_DIV
private static final byte MPU6050_RA_CONFIG
private static final byte MPU6050_RA_GYRO_CONFIG
private static final byte MPU6050_RA_ACCEL_CONFIG
private static final byte MPU6050_RA_FF_THR
private static final byte MPU6050_RA_FF_DUR
private static final byte MPU6050_RA_MOT_THR
private static final byte MPU6050_RA_MOT_DUR
private static final byte MPU6050_RA_ZRMOT_THR
private static final byte MPU6050_RA_ZRMOT_DUR
private static final byte MPU6050_RA_FIFO_EN
private static final byte MPU6050_RA_I2C_MST_CTRL
private static final byte MPU6050_RA_I2C_SLV0_ADDR
private static final byte MPU6050_RA_I2C_SLV0_REG
private static final byte MPU6050_RA_I2C_SLV0_CTRL
private static final byte MPU6050_RA_I2C_SLV1_ADDR
private static final byte MPU6050_RA_I2C_SLV1_REG
private static final byte MPU6050_RA_I2C_SLV1_CTRL
private static final byte MPU6050_RA_I2C_SLV2_ADDR
private static final byte MPU6050_RA_I2C_SLV2_REG
private static final byte MPU6050_RA_I2C_SLV2_CTRL
private static final byte MPU6050_RA_I2C_SLV3_ADDR
private static final byte MPU6050_RA_I2C_SLV3_REG
private static final byte MPU6050_RA_I2C_SLV3_CTRL
private static final byte MPU6050_RA_I2C_SLV4_ADDR
private static final byte MPU6050_RA_I2C_SLV4_REG
private static final byte MPU6050_RA_I2C_SLV4_DO
private static final byte MPU6050_RA_I2C_SLV4_CTRL
private static final byte MPU6050_RA_I2C_SLV4_DI
private static final byte MPU6050_RA_I2C_MST_STATUS
private static final byte MPU6050_RA_INT_PIN_CFG
private static final byte MPU6050_RA_INT_ENABLE
private static final byte MPU6050_RA_DMP_INT_STATUS
private static final byte MPU6050_RA_INT_STATUS
private static final byte MPU6050_RA_ACCEL_XOUT_H
private static final byte MPU6050_RA_ACCEL_XOUT_L
private static final byte MPU6050_RA_ACCEL_YOUT_H
private static final byte MPU6050_RA_ACCEL_YOUT_L
private static final byte MPU6050_RA_ACCEL_ZOUT_H
private static final byte MPU6050_RA_ACCEL_ZOUT_L
private static final byte MPU6050_RA_TEMP_OUT_H
private static final byte MPU6050_RA_TEMP_OUT_L
private static final byte MPU6050_RA_GYRO_XOUT_H
private static final byte MPU6050_RA_GYRO_XOUT_L
private static final byte MPU6050_RA_GYRO_YOUT_H
private static final byte MPU6050_RA_GYRO_YOUT_L
private static final byte MPU6050_RA_GYRO_ZOUT_H
private static final byte MPU6050_RA_GYRO_ZOUT_L
private static final byte MPU6050_RA_EXT_SENS_DATA_00
private static final byte MPU6050_RA_EXT_SENS_DATA_01
private static final byte MPU6050_RA_EXT_SENS_DATA_02
private static final byte MPU6050_RA_EXT_SENS_DATA_03
private static final byte MPU6050_RA_EXT_SENS_DATA_04
private static final byte MPU6050_RA_EXT_SENS_DATA_05
private static final byte MPU6050_RA_EXT_SENS_DATA_06
private static final byte MPU6050_RA_EXT_SENS_DATA_07
private static final byte MPU6050_RA_EXT_SENS_DATA_08
private static final byte MPU6050_RA_EXT_SENS_DATA_09
private static final byte MPU6050_RA_EXT_SENS_DATA_10
private static final byte MPU6050_RA_EXT_SENS_DATA_11
private static final byte MPU6050_RA_EXT_SENS_DATA_12
private static final byte MPU6050_RA_EXT_SENS_DATA_13
private static final byte MPU6050_RA_EXT_SENS_DATA_14
private static final byte MPU6050_RA_EXT_SENS_DATA_15
private static final byte MPU6050_RA_EXT_SENS_DATA_16
private static final byte MPU6050_RA_EXT_SENS_DATA_17
private static final byte MPU6050_RA_EXT_SENS_DATA_18
private static final byte MPU6050_RA_EXT_SENS_DATA_19
private static final byte MPU6050_RA_EXT_SENS_DATA_20
private static final byte MPU6050_RA_EXT_SENS_DATA_21
private static final byte MPU6050_RA_EXT_SENS_DATA_22
private static final byte MPU6050_RA_EXT_SENS_DATA_23
private static final byte MPU6050_RA_MOT_DETECT_STATUS
private static final byte MPU6050_RA_I2C_SLV0_DO
private static final byte MPU6050_RA_I2C_SLV1_DO
private static final byte MPU6050_RA_I2C_SLV2_DO
private static final byte MPU6050_RA_I2C_SLV3_DO
private static final byte MPU6050_RA_I2C_MST_DELAY_CTRL
private static final byte MPU6050_RA_SIGNAL_PATH_RESET
private static final byte MPU6050_RA_MOT_DETECT_CTRL
private static final byte MPU6050_RA_USER_CTRL
private static final byte MPU6050_RA_PWR_MGMT_1
private static final byte MPU6050_RA_PWR_MGMT_2
private static final byte MPU6050_RA_BANK_SEL
private static final byte MPU6050_RA_MEM_START_ADDR
private static final byte MPU6050_RA_MEM_R_W
private static final byte MPU6050_RA_DMP_CFG_1
private static final byte MPU6050_RA_DMP_CFG_2
private static final byte MPU6050_RA_FIFO_COUNTH
private static final byte MPU6050_RA_FIFO_COUNTL
private static final byte MPU6050_RA_FIFO_R_W
private static final byte MPU6050_RA_WHO_AM_I
private static final int MPU6050_TC_PWR_MODE_BIT
private static final int MPU6050_TC_OFFSET_BIT
private static final int MPU6050_TC_OFFSET_LENGTH
private static final int MPU6050_TC_OTP_BNK_VLD_BIT
private static final int MPU6050_VDDIO_LEVEL_VLOGIC
private static final int MPU6050_VDDIO_LEVEL_VDD
private static final int MPU6050_CFG_EXT_SYNC_SET_BIT
private static final int MPU6050_CFG_EXT_SYNC_SET_LENGTH
private static final int MPU6050_CFG_DLPF_CFG_BIT
private static final int MPU6050_CFG_DLPF_CFG_LENGTH
private static final int MPU6050_GCONFIG_FS_SEL_BIT
private static final int MPU6050_GCONFIG_FS_SEL_LENGTH
private static final int MPU6050_ACONFIG_XA_ST_BIT
private static final int MPU6050_ACONFIG_YA_ST_BIT
private static final int MPU6050_ACONFIG_ZA_ST_BIT
private static final int MPU6050_ACONFIG_AFS_SEL_BIT
private static final int MPU6050_ACONFIG_AFS_SEL_LENGTH
private static final int MPU6050_ACONFIG_ACCEL_HPF_BIT
private static final int MPU6050_ACONFIG_ACCEL_HPF_LENGTH
private static final byte MPU6050_ACCEL_FS_2
private static final byte MPU6050_ACCEL_FS_4
private static final byte MPU6050_ACCEL_FS_8
private static final byte MPU6050_ACCEL_FS_16
private static final int MPU6050_TEMP_FIFO_EN_BIT
private static final int MPU6050_XG_FIFO_EN_BIT
private static final int MPU6050_YG_FIFO_EN_BIT
private static final int MPU6050_ZG_FIFO_EN_BIT
private static final int MPU6050_ACCEL_FIFO_EN_BIT
private static final int MPU6050_SLV2_FIFO_EN_BIT
private static final int MPU6050_SLV1_FIFO_EN_BIT
private static final int MPU6050_SLV0_FIFO_EN_BIT
private static final int MPU6050_MULT_MST_EN_BIT
private static final int MPU6050_WAIT_FOR_ES_BIT
private static final int MPU6050_SLV_3_FIFO_EN_BIT
private static final int MPU6050_I2C_MST_P_NSR_BIT
private static final int MPU6050_I2C_MST_CLK_BIT
private static final int MPU6050_I2C_MST_CLK_LENGTH
private static final int MPU6050_I2C_SLV_RW_BIT
private static final int MPU6050_I2C_SLV_ADDR_BIT
private static final int MPU6050_I2C_SLV_ADDR_LENGTH
private static final int MPU6050_I2C_SLV_EN_BIT
private static final int MPU6050_I2C_SLV_BYTE_SW_BIT
private static final int MPU6050_I2C_SLV_REG_DIS_BIT
private static final int MPU6050_I2C_SLV_GRP_BIT
private static final int MPU6050_I2C_SLV_LEN_BIT
private static final int MPU6050_I2C_SLV_LEN_LENGTH
private static final int MPU6050_I2C_SLV4_RW_BIT
private static final int MPU6050_I2C_SLV4_ADDR_BIT
private static final int MPU6050_I2C_SLV4_ADDR_LENGTH
private static final int MPU6050_I2C_SLV4_EN_BIT
private static final int MPU6050_I2C_SLV4_INT_EN_BIT
private static final int MPU6050_I2C_SLV4_REG_DIS_BIT
private static final int MPU6050_I2C_SLV4_MST_DLY_BIT
private static final int MPU6050_I2C_SLV4_MST_DLY_LENGTH
private static final int MPU6050_MST_PASS_THROUGH_BIT
private static final int MPU6050_MST_I2C_SLV4_DONE_BIT
private static final int MPU6050_MST_I2C_LOST_ARB_BIT
private static final int MPU6050_MST_I2C_SLV4_NACK_BIT
private static final int MPU6050_MST_I2C_SLV3_NACK_BIT
private static final int MPU6050_MST_I2C_SLV2_NACK_BIT
private static final int MPU6050_MST_I2C_SLV1_NACK_BIT
private static final int MPU6050_MST_I2C_SLV0_NACK_BIT
private static final int MPU6050_INTCFG_INT_LEVEL_BIT
private static final int MPU6050_INTCFG_INT_OPEN_BIT
private static final int MPU6050_INTCFG_LATCH_INT_EN_BIT
private static final int MPU6050_INTCFG_INT_RD_CLEAR_BIT
private static final int MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
private static final int MPU6050_INTCFG_FSYNC_INT_EN_BIT
private static final int MPU6050_INTCFG_I2C_BYPASS_EN_BIT
private static final int MPU6050_INTCFG_CLKOUT_EN_BIT
private static final byte MPU6050_INTMODE_ACTIVEHIGH
private static final byte MPU6050_INTMODE_ACTIVELOW
private static final byte MPU6050_INTDRV_PUSHPULL
private static final byte MPU6050_INTDRV_OPENDRAIN
private static final byte MPU6050_INTLATCH_50USPULSE
private static final byte MPU6050_INTLATCH_WAITCLEAR
private static final byte MPU6050_INTCLEAR_STATUSREAD
private static final byte MPU6050_INTCLEAR_ANYREAD
private static final int MPU6050_INTERRUPT_FF_BIT
private static final int MPU6050_INTERRUPT_MOT_BIT
private static final int MPU6050_INTERRUPT_ZMOT_BIT
private static final int MPU6050_INTERRUPT_FIFO_OFLOW_BIT
private static final int MPU6050_INTERRUPT_I2C_MST_INT_BIT
private static final int MPU6050_INTERRUPT_PLL_RDY_INT_BIT
private static final int MPU6050_INTERRUPT_DMP_INT_BIT
private static final int MPU6050_INTERRUPT_DATA_RDY_BIT
private static final int MPU6050_DMPINT_5_BIT
private static final int MPU6050_DMPINT_4_BIT
private static final int MPU6050_DMPINT_3_BIT
private static final int MPU6050_DMPINT_2_BIT
private static final int MPU6050_DMPINT_1_BIT
private static final int MPU6050_DMPINT_0_BIT
private static final int MPU6050_MOTION_MOT_XNEG_BIT
private static final int MPU6050_MOTION_MOT_XPOS_BIT
private static final int MPU6050_MOTION_MOT_YNEG_BIT
private static final int MPU6050_MOTION_MOT_YPOS_BIT
private static final int MPU6050_MOTION_MOT_ZNEG_BIT
private static final int MPU6050_MOTION_MOT_ZPOS_BIT
private static final int MPU6050_MOTION_MOT_ZRMOT_BIT
private static final int MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
private static final int MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT
private static final int MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT
private static final int MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT
private static final int MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT
private static final int MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
private static final int MPU6050_PATHRESET_GYRO_RESET_BIT
private static final int MPU6050_PATHRESET_ACCEL_RESET_BIT
private static final int MPU6050_PATHRESET_TEMP_RESET_BIT
private static final int MPU6050_DETECT_ACCEL_ON_DELAY_BIT
private static final int MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH
private static final int MPU6050_DETECT_FF_COUNT_BIT
private static final int MPU6050_DETECT_FF_COUNT_LENGTH
private static final int MPU6050_DETECT_MOT_COUNT_BIT
private static final int MPU6050_DETECT_MOT_COUNT_LENGTH
private static final byte MPU6050_DETECT_DECREMENT_RESET
private static final byte MPU6050_DETECT_DECREMENT_1
private static final byte MPU6050_DETECT_DECREMENT_2
private static final byte MPU6050_DETECT_DECREMENT_4
private static final int MPU6050_USERCTRL_DMP_EN_BIT
private static final int MPU6050_USERCTRL_FIFO_EN_BIT
private static final int MPU6050_USERCTRL_I2C_MST_EN_BIT
private static final int MPU6050_USERCTRL_I2C_IF_DIS_BIT
private static final int MPU6050_USERCTRL_DMP_RESET_BIT
private static final int MPU6050_USERCTRL_FIFO_RESET_BIT
private static final int MPU6050_USERCTRL_I2C_MST_RESET_BIT
private static final int MPU6050_USERCTRL_SIG_COND_RESET_BIT
private static final int MPU6050_PWR1_DEVICE_RESET_BIT
private static final int MPU6050_PWR1_SLEEP_BIT
private static final int MPU6050_PWR1_CYCLE_BIT
private static final int MPU6050_PWR1_TEMP_DIS_BIT
private static final int MPU6050_PWR1_CLKSEL_BIT
private static final int MPU6050_PWR1_CLKSEL_LENGTH
private static final byte MPU6050_CLOCK_INTERNAL
private static final byte MPU6050_CLOCK_PLL_XGYRO
private static final byte MPU6050_CLOCK_PLL_YGYRO
private static final byte MPU6050_CLOCK_PLL_ZGYRO
private static final byte MPU6050_CLOCK_PLL_EXT32K
private static final byte MPU6050_CLOCK_PLL_EXT19M
private static final byte MPU6050_CLOCK_KEEP_RESET
private static final int MPU6050_PWR2_LP_WAKE_CTRL_BIT
private static final int MPU6050_PWR2_LP_WAKE_CTRL_LENGTH
private static final int MPU6050_PWR2_STBY_XA_BIT
private static final int MPU6050_PWR2_STBY_YA_BIT
private static final int MPU6050_PWR2_STBY_ZA_BIT
private static final int MPU6050_PWR2_STBY_XG_BIT
private static final int MPU6050_PWR2_STBY_YG_BIT
private static final int MPU6050_PWR2_STBY_ZG_BIT
private static final byte MPU6050_WAKE_FREQ_1P25
private static final byte MPU6050_WAKE_FREQ_2P5
private static final byte MPU6050_WAKE_FREQ_5
private static final byte MPU6050_WAKE_FREQ_10
private static final int MPU6050_BANKSEL_PRFTCH_EN_BIT
private static final int MPU6050_BANKSEL_CFG_USER_BANK_BIT
private static final int MPU6050_BANKSEL_MEM_SEL_BIT
private static final int MPU6050_BANKSEL_MEM_SEL_LENGTH
private static final int MPU6050_WHO_AM_I_BIT
private static final int MPU6050_WHO_AM_I_LENGTH
private static final int MPU6050_DMP_MEMORY_BANKS
private static final int MPU6050_DMP_MEMORY_BANK_SIZE
private static final int MPU6050_DMP_MEMORY_CHUNK_SIZE
private static final short MPU6050_DMP_CODE_SIZE
private static final short MPU6050_DMP_CONFIG_SIZE
private static final short MPU6050_DMP_UPDATES_SIZE
private byte[] dmpPacketBuffer
private short dmpPacketSize
private static final byte[] dmpMemory
private static final byte[] dmpConfig
private static final byte[] dmpUpdates
public MPU6050(I2C.Port port)
port - the I2C port on the RIOMPU6050_DEFAULT_ADDRESSpublic MPU6050(I2C.Port port, byte addr)
port - the I2C port on the RIOaddr - I2C addressMPU6050_DEFAULT_ADDRESS,
MPU6050_ADDRESS_AD0_LOW,
MPU6050_ADDRESS_AD0_HIGHpublic void initialize()
public boolean testConnection()
public byte getAuxVDDIOLevel()
public void setAuxVDDIOLevel(byte level)
level - I2C supply voltage level (0=VLOGIC, 1=VDD)public byte getRate()
MPU6050_RA_SMPLRT_DIVpublic void setRate(byte rate)
rate - New sample rate dividergetRate(),
MPU6050_RA_SMPLRT_DIVpublic MPU6050.EXTFrameSyncBitLocation getExternalFrameSync()
MPU6050.EXTFrameSyncBitLocationpublic void setExternalFrameSync(MPU6050.EXTFrameSyncBitLocation sync)
sync - New FSYNC configuration valuegetExternalFrameSync(),
MPU6050_RA_CONFIG,
MPU6050.EXTFrameSyncBitLocationpublic MPU6050.DLPFilterMode getDLPFMode()
MPU6050_RA_CONFIG,
MPU6050_CFG_DLPF_CFG_BIT,
MPU6050_CFG_DLPF_CFG_LENGTH,
MPU6050.DLPFilterModepublic void setDLPFMode(MPU6050.DLPFilterMode mode)
mode - New DLFP configuration settinggetDLPFMode(),
MPU6050.DLPFilterMode.BW_256Hz,
MPU6050_RA_CONFIG,
MPU6050_CFG_DLPF_CFG_BIT,
MPU6050_CFG_DLPF_CFG_LENGTH,
MPU6050.DLPFilterModepublic MPU6050.GyroRange getFullScaleGyroRange()
MPU6050.GyroRange.FS_250,
MPU6050_RA_GYRO_CONFIG,
MPU6050_GCONFIG_FS_SEL_BIT,
MPU6050_GCONFIG_FS_SEL_LENGTHpublic void setFullScaleGyroRange(MPU6050.GyroRange range)
range - New full-scale gyroscope range valuegetFullScaleGyroRange(),
MPU6050.GyroRange,
MPU6050_RA_GYRO_CONFIG,
MPU6050_GCONFIG_FS_SEL_BIT,
MPU6050_GCONFIG_FS_SEL_LENGTHpublic boolean getAccelXSelfTest()
MPU6050_RA_ACCEL_CONFIGpublic void setAccelXSelfTest(boolean enabled)
enabled - Self-test enabled valueMPU6050_RA_ACCEL_CONFIGpublic boolean getAccelYSelfTest()
MPU6050_RA_ACCEL_CONFIGpublic void setAccelYSelfTest(boolean enabled)
enabled - Self-test enabled valueMPU6050_RA_ACCEL_CONFIGpublic boolean getAccelZSelfTest()
MPU6050_RA_ACCEL_CONFIGpublic void setAccelZSelfTest(boolean enabled)
enabled - Self-test enabled valueMPU6050_RA_ACCEL_CONFIGpublic IAccelerometer.AccelRange getFullScaleAccelRange()
0 = +/- 2g 1 = +/- 4g 2 = +/- 8g 3 = +/- 16g
MPU6050_RA_ACCEL_CONFIG,
MPU6050_ACONFIG_AFS_SEL_BIT,
MPU6050_ACONFIG_AFS_SEL_LENGTHpublic IAccelerometer.AccelRange getAccelRange()
public void setFullScaleAccelRange(IAccelerometer.AccelRange range)
range - New full-scale accelerometer range settinggetFullScaleAccelRange()public void setAccelRange(IAccelerometer.AccelRange range)
public MPU6050.DHPFilterMode getDHPFMode()
MPU6050_RA_ACCEL_CONFIG,
MPU6050.DHPFilterMode,
MPU6050.DHPFilterMode.RESETpublic void setDHPFMode(MPU6050.DHPFilterMode bandwidth)
bandwidth - New high-pass filter configurationsetDHPFMode(DHPFilterMode),
MPU6050_RA_ACCEL_CONFIG,
MPU6050.DHPFilterMode,
MPU6050.DHPFilterMode.RESETpublic byte getFreefallDetectionThreshold()
MPU6050_RA_FF_THRpublic void setFreefallDetectionThreshold(byte threshold)
threshold - New free-fall acceleration threshold value (LSB = 2mg)getFreefallDetectionThreshold(),
MPU6050_RA_FF_THRpublic byte getFreefallDetectionDuration()
MPU6050_RA_FF_DURpublic void setFreefallDetectionDuration(byte duration)
duration - New free-fall duration threshold value (LSB = 1ms)getFreefallDetectionDuration(),
MPU6050_RA_FF_DURpublic byte getMotionDetectionThreshold()
MPU6050_RA_MOT_THRpublic void setMotionDetectionThreshold(byte threshold)
threshold - New motion detection acceleration threshold value (LSB = 2mg)getMotionDetectionThreshold(),
MPU6050_RA_MOT_THRpublic byte getMotionDetectionDuration()
MPU6050_RA_MOT_DURpublic void setMotionDetectionDuration(byte duration)
duration - New motion detection duration threshold value (LSB = 1ms)getMotionDetectionDuration(),
MPU6050_RA_MOT_DURpublic byte getZeroMotionDetectionThreshold()
MPU6050_RA_ZRMOT_THRpublic void setZeroMotionDetectionThreshold(byte threshold)
threshold - New zero motion detection acceleration threshold value (LSB = 2mg)getZeroMotionDetectionThreshold(),
MPU6050_RA_ZRMOT_THRpublic byte getZeroMotionDetectionDuration()
MPU6050_RA_ZRMOT_DURpublic void setZeroMotionDetectionDuration(byte duration)
duration - New zero motion detection duration threshold value (LSB = 1ms)getZeroMotionDetectionDuration(),
MPU6050_RA_ZRMOT_DURpublic boolean getTempFIFOEnabled()
MPU6050_RA_FIFO_ENpublic void setTempFIFOEnabled(boolean enabled)
enabled - New temperature FIFO enabled valuegetTempFIFOEnabled(),
MPU6050_RA_FIFO_ENpublic boolean getXGyroFIFOEnabled()
MPU6050_RA_FIFO_ENpublic void setXGyroFIFOEnabled(boolean enabled)
enabled - New gyroscope X-axis FIFO enabled valuegetXGyroFIFOEnabled(),
MPU6050_RA_FIFO_ENpublic boolean getYGyroFIFOEnabled()
MPU6050_RA_FIFO_ENpublic void setYGyroFIFOEnabled(boolean enabled)
enabled - New gyroscope Y-axis FIFO enabled valuegetYGyroFIFOEnabled(),
MPU6050_RA_FIFO_ENpublic boolean getZGyroFIFOEnabled()
MPU6050_RA_FIFO_ENpublic void setZGyroFIFOEnabled(boolean enabled)
enabled - New gyroscope Z-axis FIFO enabled valuegetZGyroFIFOEnabled(),
MPU6050_RA_FIFO_ENpublic boolean getAccelFIFOEnabled()
MPU6050_RA_FIFO_ENpublic void setAccelFIFOEnabled(boolean enabled)
enabled - New accelerometer FIFO enabled valuegetAccelFIFOEnabled(),
MPU6050_RA_FIFO_ENpublic boolean getSlave2FIFOEnabled()
MPU6050_RA_FIFO_ENpublic void setSlave2FIFOEnabled(boolean enabled)
enabled - New Slave 2 FIFO enabled valuegetSlave2FIFOEnabled(),
MPU6050_RA_FIFO_ENpublic boolean getSlave1FIFOEnabled()
MPU6050_RA_FIFO_ENpublic void setSlave1FIFOEnabled(boolean enabled)
enabled - New Slave 1 FIFO enabled valuegetSlave1FIFOEnabled(),
MPU6050_RA_FIFO_ENpublic boolean getSlave0FIFOEnabled()
MPU6050_RA_FIFO_ENpublic void setSlave0FIFOEnabled(boolean enabled)
enabled - New Slave 0 FIFO enabled valuegetSlave0FIFOEnabled(),
MPU6050_RA_FIFO_ENpublic boolean getMultiMasterEnabled()
MPU6050_RA_I2C_MST_CTRLpublic void setMultiMasterEnabled(boolean enabled)
enabled - New multi-master enabled valuegetMultiMasterEnabled(),
MPU6050_RA_I2C_MST_CTRLpublic boolean getWaitForExternalSensorEnabled()
MPU6050_RA_I2C_MST_CTRLpublic void setWaitForExternalSensorEnabled(boolean enabled)
enabled - New wait-for-external-sensor-data enabled valuegetWaitForExternalSensorEnabled(),
MPU6050_RA_I2C_MST_CTRLpublic boolean getSlave3FIFOEnabled()
MPU6050_RA_I2C_MST_CTRLpublic void setSlave3FIFOEnabled(boolean enabled)
enabled - New Slave 3 FIFO enabled valuegetSlave3FIFOEnabled(),
MPU6050_RA_I2C_MST_CTRLpublic boolean getSlaveReadWriteTransitionEnabled()
MPU6050_RA_I2C_MST_CTRLpublic void setSlaveReadWriteTransitionEnabled(boolean enabled)
enabled - New slave read/write transition enabled valuegetSlaveReadWriteTransitionEnabled(),
MPU6050_RA_I2C_MST_CTRLpublic MPU6050.ClockSpeed getMasterClockSpeed()
MPU6050_RA_I2C_MST_CTRLpublic void setMasterClockSpeed(MPU6050.ClockSpeed speed)
speed - Current I2C master clock speedMPU6050_RA_I2C_MST_CTRLpublic byte getSlaveAddress(byte num)
num - Slave number (0-3)MPU6050_RA_I2C_SLV0_ADDRpublic void setSlaveAddress(byte num,
byte address)
num - Slave number (0-3)address - New address for specified slavegetSlaveAddress(byte),
MPU6050_RA_I2C_SLV0_ADDRpublic byte getSlaveRegister(byte num)
num - Slave number (0-3)MPU6050_RA_I2C_SLV0_REGpublic void setSlaveRegister(byte num,
byte reg)
num - Slave number (0-3)reg - New active register for specified slavegetSlaveRegister(byte),
MPU6050_RA_I2C_SLV0_REGpublic boolean getSlaveEnabled(byte num)
num - Slave number (0-3)MPU6050_RA_I2C_SLV0_CTRLpublic void setSlaveEnabled(byte num,
boolean enabled)
num - Slave number (0-3)enabled - New enabled value for specified slavegetSlaveEnabled(byte),
MPU6050_RA_I2C_SLV0_CTRLpublic boolean getSlaveWordByteSwap(byte num)
num - Slave number (0-3)MPU6050_RA_I2C_SLV0_CTRLpublic void setSlaveWordByteSwap(byte num,
boolean enabled)
num - Slave number (0-3)enabled - New word pair byte-swapping enabled value for specified slavegetSlaveWordByteSwap(byte),
MPU6050_RA_I2C_SLV0_CTRLpublic boolean getSlaveWriteMode(byte num)
num - Slave number (0-3)MPU6050_RA_I2C_SLV0_CTRLpublic void setSlaveWriteMode(byte num,
boolean mode)
num - Slave number (0-3)mode - New write mode for specified slave (0 = register address + data, 1 = data only)getSlaveWriteMode(byte),
MPU6050_RA_I2C_SLV0_CTRLpublic boolean getSlaveWordGroupOffset(byte num)
num - Slave number (0-3)MPU6050_RA_I2C_SLV0_CTRLpublic void setSlaveWordGroupOffset(byte num,
boolean enabled)
num - Slave number (0-3)enabled - New word pair grouping order offset for specified slavegetSlaveWordGroupOffset(byte),
MPU6050_RA_I2C_SLV0_CTRLpublic byte getSlaveDataLength(byte num)
num - Slave number (0-3)MPU6050_RA_I2C_SLV0_CTRLpublic void setSlaveDataLength(byte num,
byte length)
num - Slave number (0-3)length - Number of bytes to read for specified slavegetSlaveDataLength(byte),
MPU6050_RA_I2C_SLV0_CTRLpublic byte getSlave4Address()
getSlaveAddress(byte),
MPU6050_RA_I2C_SLV4_ADDRpublic void setSlave4Address(byte address)
address - New address for Slave 4getSlave4Address(),
MPU6050_RA_I2C_SLV4_ADDRpublic byte getSlave4Register()
MPU6050_RA_I2C_SLV4_REGpublic void setSlave4Register(byte reg)
reg - New active register for Slave 4getSlave4Register(),
MPU6050_RA_I2C_SLV4_REGpublic void setSlave4OutputByte(byte data)
data - New byte to write to Slave 4MPU6050_RA_I2C_SLV4_DOpublic boolean getSlave4Enabled()
MPU6050_RA_I2C_SLV4_CTRLpublic void setSlave4Enabled(boolean enabled)
enabled - New enabled value for Slave 4getSlave4Enabled(),
MPU6050_RA_I2C_SLV4_CTRLpublic boolean getSlave4InterruptEnabled()
MPU6050_RA_I2C_SLV4_CTRLpublic void setSlave4InterruptEnabled(boolean enabled)
enabled - New enabled value for Slave 4 transaction interrupts.getSlave4InterruptEnabled(),
MPU6050_RA_I2C_SLV4_CTRLpublic boolean getSlave4WriteMode()
MPU6050_RA_I2C_SLV4_CTRLpublic void setSlave4WriteMode(boolean mode)
mode - New write mode for Slave 4 (0 = register address + data, 1 = data only)getSlave4WriteMode(),
MPU6050_RA_I2C_SLV4_CTRLpublic byte getSlave4MasterDelay()
MPU6050_RA_I2C_SLV4_CTRLpublic void setSlave4MasterDelay(byte delay)
delay - New Slave 4 master delay valuegetSlave4MasterDelay(),
MPU6050_RA_I2C_SLV4_CTRLpublic byte getSlate4InputByte()
MPU6050_RA_I2C_SLV4_DIpublic boolean getPassthroughStatus()
MPU6050_RA_I2C_MST_STATUSpublic boolean getSlave4IsDone()
MPU6050_RA_I2C_MST_STATUSpublic boolean getLostArbitration()
MPU6050_RA_I2C_MST_STATUSpublic boolean getSlave4Nack()
MPU6050_RA_I2C_MST_STATUSpublic boolean getSlave3Nack()
MPU6050_RA_I2C_MST_STATUSpublic boolean getSlave2Nack()
MPU6050_RA_I2C_MST_STATUSpublic boolean getSlave1Nack()
MPU6050_RA_I2C_MST_STATUSpublic boolean getSlave0Nack()
MPU6050_RA_I2C_MST_STATUSpublic boolean getInterruptMode()
MPU6050_RA_INT_PIN_CFG,
MPU6050_INTCFG_INT_LEVEL_BITpublic void setInterruptMode(boolean mode)
mode - New interrupt mode (0=active-high, 1=active-low)getInterruptMode(),
MPU6050_RA_INT_PIN_CFG,
MPU6050_INTCFG_INT_LEVEL_BITpublic boolean getInterruptDrive()
MPU6050_RA_INT_PIN_CFG,
MPU6050_INTCFG_INT_OPEN_BITpublic void setInterruptDrive(boolean drive)
drive - New interrupt drive mode (0=push-pull, 1=open-drain)getInterruptDrive(),
MPU6050_RA_INT_PIN_CFG,
MPU6050_INTCFG_INT_OPEN_BITpublic boolean getInterruptLatch()
MPU6050_RA_INT_PIN_CFG,
MPU6050_INTCFG_LATCH_INT_EN_BITpublic void setInterruptLatch(boolean latch)
latch - New latch mode (0=50us-pulse, 1=latch-until-int-cleared)getInterruptLatch(),
MPU6050_RA_INT_PIN_CFG,
MPU6050_INTCFG_LATCH_INT_EN_BITpublic boolean getInterruptLatchClear()
MPU6050_RA_INT_PIN_CFG,
MPU6050_INTCFG_INT_RD_CLEAR_BITpublic void setInterruptLatchClear(boolean clear)
clear - New latch clear mode (0=status-read-only, 1=any-register-read)getInterruptLatchClear(),
MPU6050_RA_INT_PIN_CFG,
MPU6050_INTCFG_INT_RD_CLEAR_BITpublic boolean getFSyncInterruptLevel()
MPU6050_RA_INT_PIN_CFG,
MPU6050_INTCFG_FSYNC_INT_LEVEL_BITpublic void setFSyncInterruptLevel(boolean level)
level - New FSYNC interrupt mode (0=active-high, 1=active-low)MPU6050_RA_INT_PIN_CFG,
MPU6050_INTCFG_FSYNC_INT_LEVEL_BITpublic boolean getFSyncInterruptEnabled()
MPU6050_RA_INT_PIN_CFG,
MPU6050_INTCFG_FSYNC_INT_EN_BITpublic void setFSyncInterruptEnabled(boolean enabled)
enabled - New FSYNC pin interrupt enabled settinggetFSyncInterruptEnabled(),
MPU6050_RA_INT_PIN_CFG,
MPU6050_INTCFG_FSYNC_INT_EN_BITpublic boolean getI2CBypassEnabled()
MPU6050_RA_INT_PIN_CFG,
MPU6050_INTCFG_I2C_BYPASS_EN_BITpublic void setI2CBypassEnabled(boolean enabled)
enabled - New I2C bypass enabled statusMPU6050_RA_INT_PIN_CFG,
MPU6050_INTCFG_I2C_BYPASS_EN_BITpublic boolean getClockOutputEnabled()
MPU6050_RA_INT_PIN_CFG,
MPU6050_INTCFG_CLKOUT_EN_BITpublic void setClockOutputEnabled(boolean enabled)
enabled - New reference clock output enabled statusMPU6050_RA_INT_PIN_CFG,
MPU6050_INTCFG_CLKOUT_EN_BITpublic byte getIntEnabled()
MPU6050_RA_INT_ENABLE,
MPU6050_INTERRUPT_FF_BITpublic void setIntEnabled(byte enabled)
enabled - New interrupt enabled statusgetIntFreefallEnabled(),
MPU6050_RA_INT_ENABLE,
MPU6050_INTERRUPT_FF_BITpublic boolean getIntFreefallEnabled()
MPU6050_RA_INT_ENABLE,
MPU6050_INTERRUPT_FF_BITpublic void setIntFreefallEnabled(boolean enabled)
enabled - New interrupt enabled statusgetIntFreefallEnabled(),
MPU6050_RA_INT_ENABLE,
MPU6050_INTERRUPT_FF_BITpublic boolean getIntMotionEnabled()
MPU6050_RA_INT_ENABLE,
MPU6050_INTERRUPT_MOT_BITpublic void setIntMotionEnabled(boolean enabled)
enabled - New interrupt enabled statusgetIntMotionEnabled(),
MPU6050_RA_INT_ENABLE,
MPU6050_INTERRUPT_MOT_BITpublic boolean getIntZeroMotionEnabled()
MPU6050_RA_INT_ENABLE,
MPU6050_INTERRUPT_ZMOT_BITpublic void setIntZeroMotionEnabled(boolean enabled)
enabled - New interrupt enabled statusgetIntZeroMotionEnabled(),
MPU6050_RA_INT_ENABLE,
MPU6050_INTERRUPT_ZMOT_BITpublic boolean getIntFIFOBufferOverflowEnabled()
MPU6050_RA_INT_ENABLE,
MPU6050_INTERRUPT_FIFO_OFLOW_BITpublic void setIntFIFOBufferOverflowEnabled(boolean enabled)
enabled - New interrupt enabled statusgetIntFIFOBufferOverflowEnabled(),
MPU6050_RA_INT_ENABLE,
MPU6050_INTERRUPT_FIFO_OFLOW_BITpublic boolean getIntI2CMasterEnabled()
MPU6050_RA_INT_ENABLE,
MPU6050_INTERRUPT_I2C_MST_INT_BITpublic void setIntI2CMasterEnabled(boolean enabled)
enabled - New interrupt enabled statusgetIntI2CMasterEnabled(),
MPU6050_RA_INT_ENABLE,
MPU6050_INTERRUPT_I2C_MST_INT_BITpublic boolean getIntDataReadyEnabled()
MPU6050_RA_INT_ENABLE,
MPU6050_INTERRUPT_DATA_RDY_BITpublic void setIntDataReadyEnabled(boolean enabled)
enabled - New interrupt enabled statusgetIntDataReadyEnabled(),
MPU6050_RA_INT_PIN_CFG,
MPU6050_INTERRUPT_DATA_RDY_BITpublic byte getIntStatus()
MPU6050_RA_INT_STATUSpublic boolean getIntFreefallStatus()
MPU6050_RA_INT_STATUS,
MPU6050_INTERRUPT_FF_BITpublic boolean getIntMotionStatus()
MPU6050_RA_INT_STATUS,
MPU6050_INTERRUPT_MOT_BITpublic boolean getIntZeroMotionStatus()
MPU6050_RA_INT_STATUS,
MPU6050_INTERRUPT_ZMOT_BITpublic boolean getIntFIFOBufferOverflowStatus()
MPU6050_RA_INT_STATUS,
MPU6050_INTERRUPT_FIFO_OFLOW_BITpublic boolean getIntI2CMasterStatus()
MPU6050_RA_INT_STATUS,
MPU6050_INTERRUPT_I2C_MST_INT_BITpublic boolean getIntDataReadyStatus()
MPU6050_RA_INT_STATUS,
MPU6050_INTERRUPT_DATA_RDY_BITpublic short[] getMotion9()
short values containing the accel/gyro/compass
values. getMotion6(),
getAcceleration(),
getRotation(),
MPU6050_RA_ACCEL_XOUT_Hpublic short[] getMotion6()
short values containing the accel/gyro
values. getAcceleration(),
getRotation(),
MPU6050_RA_ACCEL_XOUT_Hpublic double[] getAcceleration()
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
short values containing the accel values.
MPU6050_RA_GYRO_XOUT_Hpublic double getAccelerationX()
getMotion6(),
MPU6050_RA_ACCEL_XOUT_Hpublic double getAccelerationY()
getMotion6(),
MPU6050_RA_ACCEL_YOUT_Hpublic double getAccelerationZ()
getMotion6(),
MPU6050_RA_ACCEL_ZOUT_Hpublic double getTemperature()
MPU6050_RA_TEMP_OUT_Hpublic double[] getRotation()
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
getMotion6(),
MPU6050_RA_GYRO_XOUT_Hpublic short getRotationX()
getMotion6(),
MPU6050_RA_GYRO_XOUT_Hpublic short getRotationY()
getMotion6(),
MPU6050_RA_GYRO_YOUT_Hpublic short getRotationZ()
getMotion6(),
MPU6050_RA_GYRO_ZOUT_Hpublic byte getExternalSensorByte(int position)
position - Starting position (0-23)public short getExternalSensorWord(int position)
position - Starting position (0-21)getExternalSensorByte(int)public int getExternalSensorDWord(int position)
position - Starting position (0-20)getExternalSensorByte(int)public boolean getXNegMotionDetected()
MPU6050_RA_MOT_DETECT_STATUS,
MPU6050_MOTION_MOT_XNEG_BITpublic boolean getXPosMotionDetected()
MPU6050_RA_MOT_DETECT_STATUS,
MPU6050_MOTION_MOT_XPOS_BITpublic boolean getYNegMotionDetected()
MPU6050_RA_MOT_DETECT_STATUS,
MPU6050_MOTION_MOT_YNEG_BITpublic boolean getYPosMotionDetected()
MPU6050_RA_MOT_DETECT_STATUS,
MPU6050_MOTION_MOT_YPOS_BITpublic boolean getZNegMotionDetected()
MPU6050_RA_MOT_DETECT_STATUS,
MPU6050_MOTION_MOT_ZNEG_BITpublic boolean getZPosMotionDetected()
MPU6050_RA_MOT_DETECT_STATUS,
MPU6050_MOTION_MOT_ZPOS_BITpublic boolean getZeroMotionDetected()
MPU6050_RA_MOT_DETECT_STATUS,
MPU6050_MOTION_MOT_ZRMOT_BITpublic void setSlaveOutputByte(byte num,
byte data)
num - Slave number (0-3)data - Byte to writeMPU6050_RA_I2C_SLV0_DOpublic boolean getExternalShadowDelayEnabled()
MPU6050_RA_I2C_MST_DELAY_CTRL,
MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BITpublic void setExternalShadowDelayEnabled(boolean enabled)
enabled - New external data shadow delay enabled status.getExternalShadowDelayEnabled(),
MPU6050_RA_I2C_MST_DELAY_CTRL,
MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BITpublic boolean getSlaveDelayEnabled(byte num)
num - Slave number (0-4)MPU6050_RA_I2C_MST_DELAY_CTRL,
MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BITpublic void setSlaveDelayEnabled(byte num,
boolean enabled)
num - Slave number (0-4)enabled - New slave delay enabled status.MPU6050_RA_I2C_MST_DELAY_CTRL,
MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BITpublic void resetGyroscopePath()
public void resetAccelerometerPath()
public void resetTemperaturePath()
public byte getAccelerometerPowerOnDelay()
MPU6050_RA_MOT_DETECT_CTRL,
MPU6050_DETECT_ACCEL_ON_DELAY_BITpublic void setAccelerometerPowerOnDelay(byte delay)
delay - New accelerometer power-on delay (0-3)getAccelerometerPowerOnDelay(),
MPU6050_RA_MOT_DETECT_CTRL,
MPU6050_DETECT_ACCEL_ON_DELAY_BITpublic byte getFreefallDetectionCounterDecrement()
FF_COUNT | Counter Decrement ---------+------------------ 0 | Reset 1 | 1 2 | 2 3 | 4When 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.
MPU6050_RA_MOT_DETECT_CTRL,
MPU6050_DETECT_FF_COUNT_BITpublic void setFreefallDetectionCounterDecrement(byte decrement)
decrement - New decrement configuration valuegetFreefallDetectionCounterDecrement(),
MPU6050_RA_MOT_DETECT_CTRL,
MPU6050_DETECT_FF_COUNT_BITpublic byte getMotionDetectionCounterDecrement()
MOT_COUNT | Counter Decrement ----------+------------------ 0 | Reset 1 | 1 2 | 2 3 | 4When 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.
public void setMotionDetectionCounterDecrement(byte decrement)
decrement - New decrement configuration valuegetMotionDetectionCounterDecrement(),
MPU6050_RA_MOT_DETECT_CTRL,
MPU6050_DETECT_MOT_COUNT_BITpublic boolean getFIFOEnabled()
MPU6050_RA_USER_CTRL,
MPU6050_USERCTRL_FIFO_EN_BITpublic void setFIFOEnabled(boolean enabled)
enabled - New FIFO enabled statusgetFIFOEnabled(),
MPU6050_RA_USER_CTRL,
MPU6050_USERCTRL_FIFO_EN_BITpublic boolean getI2CMasterModeEnabled()
MPU6050_RA_USER_CTRL,
MPU6050_USERCTRL_I2C_MST_EN_BITpublic void setI2CMasterModeEnabled(boolean enabled)
enabled - New I2C Master Mode enabled statusgetI2CMasterModeEnabled(),
MPU6050_RA_USER_CTRL,
MPU6050_USERCTRL_I2C_MST_EN_BITpublic void switchSPIEnabled(boolean enabled)
public void resetFIFO()
public void resetI2CMaster()
public void resetSensors()
public void reset()
public boolean getSleepEnabled()
MPU6050_RA_PWR_MGMT_1,
MPU6050_PWR1_SLEEP_BITpublic void setSleepEnabled(boolean enabled)
enabled - New sleep mode enabled statusgetSleepEnabled(),
MPU6050_RA_PWR_MGMT_1,
MPU6050_PWR1_SLEEP_BITpublic boolean getWakeCycleEnabled()
MPU6050_RA_PWR_MGMT_1,
MPU6050_PWR1_CYCLE_BITpublic void setWakeCycleEnabled(boolean enabled)
enabled - New sleep mode enabled statusgetWakeCycleEnabled(),
MPU6050_RA_PWR_MGMT_1,
MPU6050_PWR1_CYCLE_BITpublic boolean getTempSensorEnabled()
MPU6050_RA_PWR_MGMT_1,
MPU6050_PWR1_TEMP_DIS_BITpublic void setTempSensorEnabled(boolean enabled)
enabled - New temperature sensor enabled statusgetTempSensorEnabled(),
MPU6050_RA_PWR_MGMT_1,
MPU6050_PWR1_TEMP_DIS_BITpublic MPU6050.GyroClockSource getClockSource()
MPU6050.GyroClockSource,
MPU6050_PWR1_CLKSEL_BIT,
MPU6050_PWR1_CLKSEL_LENGTHpublic void setClockSource(MPU6050.GyroClockSource source)
source - New clock source settinggetClockSource(),
MPU6050.GyroClockSource,
MPU6050_PWR1_CLKSEL_BIT,
MPU6050_PWR1_CLKSEL_LENGTHpublic byte getWakeFrequency()
LP_WAKE_CTRL | Wake-up Frequency -------------+------------------ 0 | 1.25 Hz 1 | 2.5 Hz 2 | 5 Hz 3 | 10 HzFor further information regarding the MPU-60X0's power modes, please refer to Register 107.
MPU6050_RA_PWR_MGMT_2public void setWakeFrequency(byte frequency)
frequency - New wake frequencyMPU6050_RA_PWR_MGMT_2public boolean getStandbyXAccelEnabled()
MPU6050_RA_PWR_MGMT_2,
MPU6050_PWR2_STBY_XA_BITpublic void setStandbyXAccelEnabled(boolean enabled)
enabled - New X-axis standby enabled statusgetStandbyXAccelEnabled(),
MPU6050_RA_PWR_MGMT_2,
MPU6050_PWR2_STBY_XA_BITpublic boolean getStandbyYAccelEnabled()
MPU6050_RA_PWR_MGMT_2,
MPU6050_PWR2_STBY_YA_BITpublic void setStandbyYAccelEnabled(boolean enabled)
enabled - New Y-axis standby enabled statusgetStandbyYAccelEnabled(),
MPU6050_RA_PWR_MGMT_2,
MPU6050_PWR2_STBY_YA_BITpublic boolean getStandbyZAccelEnabled()
MPU6050_RA_PWR_MGMT_2,
MPU6050_PWR2_STBY_ZA_BITpublic void setStandbyZAccelEnabled(boolean enabled)
enabled - New Z-axis standby enabled statusgetStandbyZAccelEnabled(),
MPU6050_RA_PWR_MGMT_2,
MPU6050_PWR2_STBY_ZA_BITpublic boolean getStandbyXGyroEnabled()
MPU6050_RA_PWR_MGMT_2,
MPU6050_PWR2_STBY_XG_BITpublic void setStandbyXGyroEnabled(boolean enabled)
enabled - New X-axis standby enabled statusgetStandbyXGyroEnabled(),
MPU6050_RA_PWR_MGMT_2,
MPU6050_PWR2_STBY_XG_BITpublic boolean getStandbyYGyroEnabled()
MPU6050_RA_PWR_MGMT_2,
MPU6050_PWR2_STBY_YG_BITpublic void setStandbyYGyroEnabled(boolean enabled)
enabled - New Y-axis standby enabled statusgetStandbyYGyroEnabled(),
MPU6050_RA_PWR_MGMT_2,
MPU6050_PWR2_STBY_YG_BITpublic boolean getStandbyZGyroEnabled()
MPU6050_RA_PWR_MGMT_2,
MPU6050_PWR2_STBY_ZG_BITpublic void setStandbyZGyroEnabled(boolean enabled)
enabled - New Z-axis standby enabled statusgetStandbyZGyroEnabled(),
MPU6050_RA_PWR_MGMT_2,
MPU6050_PWR2_STBY_ZG_BITpublic short getFIFOCount()
public byte getFIFOByte()
public void getFIFOBytes(byte[] data,
short length)
public void setFIFOByte(byte data)
getFIFOByte(),
MPU6050_RA_FIFO_R_Wpublic byte getDeviceID()
MPU6050_RA_WHO_AM_I,
MPU6050_WHO_AM_I_BIT,
MPU6050_WHO_AM_I_LENGTHpublic void setDeviceID(byte id)
id - New device ID to set.getDeviceID(),
MPU6050_RA_WHO_AM_I,
MPU6050_WHO_AM_I_BIT,
MPU6050_WHO_AM_I_LENGTHpublic byte getOTPBankValid()
public void setOTPBankValid(boolean enabled)
public byte getXGyroOffsetTC()
public void setXGyroOffsetTC(byte offset)
public byte getYGyroOffsetTC()
public void setYGyroOffsetTC(byte offset)
public byte getZGyroOffsetTC()
public void setZGyroOffsetTC(byte offset)
public byte getXFineGain()
public void setXFineGain(byte gain)
public byte getYFineGain()
public void setYFineGain(byte gain)
public byte getZFineGain()
public void setZFineGain(byte gain)
public short getXAccelOffset()
public void setXAccelOffset(int offset)
public short getYAccelOffset()
public void setYAccelOffset(int offset)
public short getZAccelOffset()
public void setZAccelOffset(int offset)
public short getXGyroOffset()
public void setXGyroOffset(int offset)
public short getYGyroOffset()
public void setYGyroOffset(int offset)
public short getZGyroOffset()
public void setZGyroOffset(int offset)
public boolean getIntPLLReadyEnabled()
public void setIntPLLReadyEnabled(boolean enabled)
public boolean getIntDMPEnabled()
public void setIntDMPEnabled(boolean enabled)
public boolean getDMPInt5Status()
public boolean getDMPInt4Status()
public boolean getDMPInt3Status()
public boolean getDMPInt2Status()
public boolean getDMPInt1Status()
public boolean getDMPInt0Status()
public boolean getIntPLLReadyStatus()
public boolean getIntDMPStatus()
public boolean getDMPEnabled()
public void setDMPEnabled(boolean enabled)
enabled - public void resetDMP()
public void setMemoryBank(byte bank,
boolean prefetchEnabled,
boolean userBank)
public void setMemoryBank(byte bank)
public void setMemoryStartAddress(byte address)
public byte readMemoryByte()
public void writeMemoryByte(byte data)
public void readMemoryBlock(byte[] data,
short dataSize,
byte bank,
byte address)
public boolean writeMemoryBlock(byte[] data,
short dataSize,
byte bank,
byte address,
boolean verify)
public boolean writeProgMemoryBlock(byte[] data,
short dataSize,
byte bank,
byte address,
boolean verify)
public boolean writeDMPConfigurationSet(byte[] data,
short dataSize)
public boolean writeProgDMPConfigurationSet(byte[] data,
short dataSize)
public byte dmpInitialize()
boolean dmpPacketAvailable()
public byte dmpGetAccel(int[] data,
byte[] packet)
public byte dmpGetAccel(short[] data,
byte[] packet)
public byte dmpGetAccel(VectorInt16 v, byte[] packet)
public byte dmpGetQuaternion(int[] data,
byte[] packet)
public byte dmpGetQuaternion(short[] data,
byte[] packet)
public byte dmpGetQuaternion(Quaternion q, byte[] packet)
public byte dmpGetGyro(int[] data,
byte[] packet)
public byte dmpGetGyro(short[] data,
byte[] packet)
public byte dmpGetGyro(VectorInt16 v, byte[] packet)
public byte dmpGetLinearAccel(VectorInt16 v, VectorInt16 vRaw, VectorDouble gravity)
public byte dmpGetLinearAccelInWorld(VectorInt16 v, VectorInt16 vReal, Quaternion q)
public byte dmpGetGravity(VectorDouble v, Quaternion q)
public byte dmpGetEuler(double[] data,
Quaternion q)
public byte dmpGetYawPitchRoll(double[] data,
Quaternion q,
VectorDouble gravity)
public byte dmpProcessFIFOPacket(byte[] dmpData)
public byte dmpReadAndProcessFIFOPacket(byte numPackets,
byte processed)
public short dmpGetFIFOPacketSize()
public byte getDMPConfig1()
public void setDMPConfig1(byte config)
public byte getDMPConfig2()
public void setDMPConfig2(byte config)