/MPU6050-ChibiOS-devel/MPU6050/MPU6050.c

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// I2Cdev library collection - MPU6050 I2C device class header file
// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
// 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
// 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.

/* ChibiOS I2Cdev MPU6050 device class conversion 2/5/2013 by Jan Schlemminger - C conversion, ChibiOS compliance
 * First release. I just tested a few functions so this should be considered HIGHLY EXPERIMENTAL!!!
 * Feel free to test and report bugs. Updates at https://github.com/jevermeister/MPU6050-ChibiOS
*/

/* ============================================
ChibiOS I2Cdev MPU6050 device class code is placed under the MIT license
Copyright (c) 2012 Jan Schlemminger

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 "ch.h"
#include "hal.h"
#include "MPU6050.h"
#include "../i2cdev_chibi/i2cdev_chibi.h"
#include "chprintf.h"

// for memcmp
#include <string.h>

/* Global variables, will see how to get rid of them
*	     
*/
uint8_t MPUdevAddr;
uint8_t MPUbuffer[14];
			
uint16_t MPUfifoCount;     	// count of all bytes currently in FIFO
uint8_t  MPUfifoBuffer[64];	// FIFO storage buffer

/** 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
 */
void MPU6050(uint8_t address) {
    MPUdevAddr = 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 MPUinitialize() {
    MPUsetClockSource(MPU6050_CLOCK_PLL_XGYRO);
    MPUsetFullScaleGyroRange(MPU6050_GYRO_FS_250);
    MPUsetFullScaleAccelRange(MPU6050_ACCEL_FS_2);
    MPUsetSleepEnabled(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_t MPUtestConnection() {
    return MPUgetDeviceID() == 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 MPUgetAuxVDDIOLevel() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetAuxVDDIOLevel(uint8_t level) {
    I2CdevwriteBit(MPUdevAddr, 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 MPUgetRate() {
    I2CdevreadByte(MPUdevAddr, MPU6050_RA_SMPLRT_DIV, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[0];
}
/** Set gyroscope sample rate divider.
 * @param rate New sample rate divider
 * @see getRate()
 * @see MPU6050_RA_SMPLRT_DIV
 */
void MPUsetRate(uint8_t rate) {
    I2CdevwriteByte(MPUdevAddr, 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.
 *
 * <pre>
 * 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]
 * </pre>
 *
 * @return FSYNC configuration value
 */
uint8_t MPUgetExternalFrameSync() {
    I2CdevreadBits(MPUdevAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[0];
}
/** Set external FSYNC configuration.
 * @see getExternalFrameSync()
 * @see MPU6050_RA_CONFIG
 * @param sync New FSYNC configuration value
 */
void MPUsetExternalFrameSync(uint8_t sync) {
    I2CdevwriteBits(MPUdevAddr, 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.
 *
 * <pre>
 *          |   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
 * </pre>
 *
 * @return DLFP configuration
 * @see MPU6050_RA_CONFIG
 * @see MPU6050_CFG_DLPF_CFG_BIT
 * @see MPU6050_CFG_DLPF_CFG_LENGTH
 */
uint8_t MPUgetDLPFMode() {
    I2CdevreadBits(MPUdevAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetDLPFMode(uint8_t mode) {
    I2CdevwriteBits(MPUdevAddr, 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.
 *
 * <pre>
 * 0 = +/- 250 degrees/sec
 * 1 = +/- 500 degrees/sec
 * 2 = +/- 1000 degrees/sec
 * 3 = +/- 2000 degrees/sec
 * </pre>
 *
 * @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 MPUgetFullScaleGyroRange() {
    I2CdevreadBits(MPUdevAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetFullScaleGyroRange(uint8_t range) {
    I2CdevwriteBits(MPUdevAddr, 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_t MPUgetAccelXSelfTest() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[0];
}
/** Get self-test enabled setting for accelerometer X axis.
 * @param enabled Self-test enabled value
 * @see MPU6050_RA_ACCEL_CONFIG
 */
void MPUsetAccelXSelfTest(bool_t enabled) {
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetAccelYSelfTest() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[0];
}
/** Get self-test enabled value for accelerometer Y axis.
 * @param enabled Self-test enabled value
 * @see MPU6050_RA_ACCEL_CONFIG
 */
void MPUsetAccelYSelfTest(bool_t enabled) {
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetAccelZSelfTest() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[0];
}
/** Set self-test enabled value for accelerometer Z axis.
 * @param enabled Self-test enabled value
 * @see MPU6050_RA_ACCEL_CONFIG
 */
void MPUsetAccelZSelfTest(bool_t enabled) {
    I2CdevwriteBit(MPUdevAddr, 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.
 *
 * <pre>
 * 0 = +/- 2g
 * 1 = +/- 4g
 * 2 = +/- 8g
 * 3 = +/- 16g
 * </pre>
 *
 * @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 MPUgetFullScaleAccelRange() {
    I2CdevreadBits(MPUdevAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[0];
}
/** Set full-scale accelerometer range.
 * @param range New full-scale accelerometer range setting
 * @see getFullScaleAccelRange()
 */
void MPUsetFullScaleAccelRange(uint8_t range) {
    I2CdevwriteBits(MPUdevAddr, 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:
 *
 * <pre>
 *    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.
 * </pre>
 *
 * <pre>
 * 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
 * </pre>
 *
 * @return Current high-pass filter configuration
 * @see MPU6050_DHPF_RESET
 * @see MPU6050_RA_ACCEL_CONFIG
 */
uint8_t MPUgetDHPFMode() {
    I2CdevreadBits(MPUdevAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetDHPFMode(uint8_t bandwidth) {
    I2CdevwriteBits(MPUdevAddr, 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 MPUgetFreefallDetectionThreshold() {
    I2CdevreadByte(MPUdevAddr, MPU6050_RA_FF_THR, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetFreefallDetectionThreshold(uint8_t threshold) {
    I2CdevwriteByte(MPUdevAddr, 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 MPUgetFreefallDetectionDuration() {
    I2CdevreadByte(MPUdevAddr, MPU6050_RA_FF_DUR, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetFreefallDetectionDuration(uint8_t duration) {
    I2CdevwriteByte(MPUdevAddr, 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 MPUgetMotionDetectionThreshold() {
    I2CdevreadByte(MPUdevAddr, MPU6050_RA_MOT_THR, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetMotionDetectionThreshold(uint8_t threshold) {
    I2CdevwriteByte(MPUdevAddr, 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 MPUgetMotionDetectionDuration() {
    I2CdevreadByte(MPUdevAddr, MPU6050_RA_MOT_DUR, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetMotionDetectionDuration(uint8_t duration) {
    I2CdevwriteByte(MPUdevAddr, 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 MPUgetZeroMotionDetectionThreshold() {
    I2CdevreadByte(MPUdevAddr, MPU6050_RA_ZRMOT_THR, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetZeroMotionDetectionThreshold(uint8_t threshold) {
    I2CdevwriteByte(MPUdevAddr, 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 MPUgetZeroMotionDetectionDuration() {
    I2CdevreadByte(MPUdevAddr, MPU6050_RA_ZRMOT_DUR, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetZeroMotionDetectionDuration(uint8_t duration) {
    I2CdevwriteByte(MPUdevAddr, 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_t MPUgetTempFIFOEnabled() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[0];
}
/** Set temperature FIFO enabled value.
 * @param enabled New temperature FIFO enabled value
 * @see getTempFIFOEnabled()
 * @see MPU6050_RA_FIFO_EN
 */
void MPUsetTempFIFOEnabled(bool_t enabled) {
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetXGyroFIFOEnabled() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetXGyroFIFOEnabled(bool_t enabled) {
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetYGyroFIFOEnabled() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetYGyroFIFOEnabled(bool_t enabled) {
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetZGyroFIFOEnabled() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetZGyroFIFOEnabled(bool_t enabled) {
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetAccelFIFOEnabled() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[0];
}
/** Set accelerometer FIFO enabled value.
 * @param enabled New accelerometer FIFO enabled value
 * @see getAccelFIFOEnabled()
 * @see MPU6050_RA_FIFO_EN
 */
void MPUsetAccelFIFOEnabled(bool_t enabled) {
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetSlave2FIFOEnabled() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[0];
}
/** Set Slave 2 FIFO enabled value.
 * @param enabled New Slave 2 FIFO enabled value
 * @see getSlave2FIFOEnabled()
 * @see MPU6050_RA_FIFO_EN
 */
void MPUsetSlave2FIFOEnabled(bool_t enabled) {
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetSlave1FIFOEnabled() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[0];
}
/** Set Slave 1 FIFO enabled value.
 * @param enabled New Slave 1 FIFO enabled value
 * @see getSlave1FIFOEnabled()
 * @see MPU6050_RA_FIFO_EN
 */
void MPUsetSlave1FIFOEnabled(bool_t enabled) {
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetSlave0FIFOEnabled() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[0];
}
/** Set Slave 0 FIFO enabled value.
 * @param enabled New Slave 0 FIFO enabled value
 * @see getSlave0FIFOEnabled()
 * @see MPU6050_RA_FIFO_EN
 */
void MPUsetSlave0FIFOEnabled(bool_t enabled) {
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetMultiMasterEnabled() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[0];
}
/** Set multi-master enabled value.
 * @param enabled New multi-master enabled value
 * @see getMultiMasterEnabled()
 * @see MPU6050_RA_I2C_MST_CTRL
 */
void MPUsetMultiMasterEnabled(bool_t enabled) {
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetWaitForExternalSensorEnabled() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetWaitForExternalSensorEnabled(bool_t enabled) {
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetSlave3FIFOEnabled() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[0];
}
/** Set Slave 3 FIFO enabled value.
 * @param enabled New Slave 3 FIFO enabled value
 * @see getSlave3FIFOEnabled()
 * @see MPU6050_RA_MST_CTRL
 */
void MPUsetSlave3FIFOEnabled(bool_t enabled) {
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetSlaveReadWriteTransitionEnabled() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetSlaveReadWriteTransitionEnabled(bool_t enabled) {
    I2CdevwriteBit(MPUdevAddr, 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:
 *
 * <pre>
 * 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
 * </pre>
 *
 * @return Current I2C master clock speed
 * @see MPU6050_RA_I2C_MST_CTRL
 */
uint8_t MPUgetMasterClockSpeed() {
    I2CdevreadBits(MPUdevAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[0];
}
/** Set I2C master clock speed.
 * @reparam speed Current I2C master clock speed
 * @see MPU6050_RA_I2C_MST_CTRL
 */
void MPUsetMasterClockSpeed(uint8_t speed) {
    I2CdevwriteBits(MPUdevAddr, 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 MPUgetSlaveAddress(uint8_t num) {
    if (num > 3) return 0;
    I2CdevreadByte(MPUdevAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetSlaveAddress(uint8_t num, uint8_t address) {
    if (num > 3) return;
    I2CdevwriteByte(MPUdevAddr, 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 MPUgetSlaveRegister(uint8_t num) {
    if (num > 3) return 0;
    I2CdevreadByte(MPUdevAddr, MPU6050_RA_I2C_SLV0_REG + num*3, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetSlaveRegister(uint8_t num, uint8_t reg) {
    if (num > 3) return;
    I2CdevwriteByte(MPUdevAddr, 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_t MPUgetSlaveEnabled(uint8_t num) {
    if (num > 3) return 0;
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetSlaveEnabled(uint8_t num, bool_t enabled) {
    if (num > 3) return;
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetSlaveWordByteSwap(uint8_t num) {
    if (num > 3) return 0;
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetSlaveWordByteSwap(uint8_t num, bool_t enabled) {
    if (num > 3) return;
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetSlaveWriteMode(uint8_t num) {
    if (num > 3) return 0;
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetSlaveWriteMode(uint8_t num, bool_t mode) {
    if (num > 3) return;
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetSlaveWordGroupOffset(uint8_t num) {
    if (num > 3) return 0;
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetSlaveWordGroupOffset(uint8_t num, bool_t enabled) {
    if (num > 3) return;
    I2CdevwriteBit(MPUdevAddr, 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 MPUgetSlaveDataLength(uint8_t num) {
    if (num > 3) return 0;
    I2CdevreadBits(MPUdevAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetSlaveDataLength(uint8_t num, uint8_t length) {
    if (num > 3) return;
    I2CdevwriteBits(MPUdevAddr, 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 MPUgetSlave4Address() {
    I2CdevreadByte(MPUdevAddr, MPU6050_RA_I2C_SLV4_ADDR, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[0];
}
/** Set the I2C address of Slave 4.
 * @param address New address for Slave 4
 * @see getSlave4Address()
 * @see MPU6050_RA_I2C_SLV4_ADDR
 */
void MPUsetSlave4Address(uint8_t address) {
    I2CdevwriteByte(MPUdevAddr, 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 MPUgetSlave4Register() {
    I2CdevreadByte(MPUdevAddr, MPU6050_RA_I2C_SLV4_REG, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetSlave4Register(uint8_t reg) {
    I2CdevwriteByte(MPUdevAddr, 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 MPUsetSlave4OutputByte(uint8_t data) {
    I2CdevwriteByte(MPUdevAddr, 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_t MPUgetSlave4Enabled() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetSlave4Enabled(bool_t enabled) {
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetSlave4InterruptEnabled() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetSlave4InterruptEnabled(bool_t enabled) {
    I2CdevwriteBit(MPUdevAddr, 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_t MPUgetSlave4WriteMode() {
    I2CdevreadBit(MPUdevAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, MPUbuffer, I2CDEV_DEFAULT_READ_TIMEOUT);
    return MPUbuffer[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 MPUsetSlave4WriteMode(bool_t mode) {
    I2CdevwriteBit(MPUdevAddr, 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,
 * …

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