MPU6050.h

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// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011
// (RM-MPU-6000A-00)
// Based On https://github.com/jrowberg/i2cdevlib
 
// NOTE: THIS IS ONLY A PARTIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY
// UNDERGOING ACTIVE DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES.
// PLEASE KEEP THIS IN MIND IF YOU DECIDE TO USE THIS PARTICULAR CODE FOR
// ANYTHING.
 
/* ============================================
   I2Cdev device library code is placed under the MIT license
   Copyright (c) 2012 Jeff Rowberg
 
   Permission is hereby granted, free of charge, to any person obtaining a copy
   of this software and associated documentation files (the "Software"), to deal
   in the Software without restriction, including without limitation the rights
   to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
   copies of the Software, and to permit persons to whom the Software is
   furnished to do so, subject to the following conditions:
 
   The above copyright notice and this permission notice shall be included in
   all copies or substantial portions of the Software.
 
   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
   OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
   THE SOFTWARE.
   ===============================================
   */
 
#pragma once
 
#include <Libraries/I2Cdev/I2Cdev.h>
 
#define MPU6050_ADDRESS_AD0_LOW 0x68  // address pin low (GND), default for InvenSense evaluation board
#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW
 
#define MPU6050_RA_XG_OFFS_TC 0x00  //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_YG_OFFS_TC 0x01  //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_ZG_OFFS_TC 0x02  //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
#define MPU6050_RA_XA_OFFS_H 0x06   //[15:0] XA_OFFS
#define MPU6050_RA_XA_OFFS_L_TC 0x07
#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
#define MPU6050_RA_YA_OFFS_L_TC 0x09
#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
#define MPU6050_RA_SELF_TEST_X 0x0D  //[7:5] XA_TEST[4-2], [4:0] XG_TEST[4-0]
#define MPU6050_RA_SELF_TEST_Y 0x0E  //[7:5] YA_TEST[4-2], [4:0] YG_TEST[4-0]
#define MPU6050_RA_SELF_TEST_Z 0x0F  //[7:5] ZA_TEST[4-2], [4:0] ZG_TEST[4-0]
#define MPU6050_RA_SELF_TEST_A 0x10  //[5:4] XA_TEST[1-0], [3:2] YA_TEST[1-0], [1:0] ZA_TEST[1-0]
#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
#define MPU6050_RA_XG_OFFS_USRL 0x14
#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
#define MPU6050_RA_YG_OFFS_USRL 0x16
#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
#define MPU6050_RA_ZG_OFFS_USRL 0x18
#define MPU6050_RA_SMPLRT_DIV 0x19
#define MPU6050_RA_CONFIG 0x1A
#define MPU6050_RA_GYRO_CONFIG 0x1B
#define MPU6050_RA_ACCEL_CONFIG 0x1C
#define MPU6050_RA_FF_THR 0x1D
#define MPU6050_RA_FF_DUR 0x1E
#define MPU6050_RA_MOT_THR 0x1F
#define MPU6050_RA_MOT_DUR 0x20
#define MPU6050_RA_ZRMOT_THR 0x21
#define MPU6050_RA_ZRMOT_DUR 0x22
#define MPU6050_RA_FIFO_EN 0x23
#define MPU6050_RA_I2C_MST_CTRL 0x24
#define MPU6050_RA_I2C_SLV0_ADDR 0x25
#define MPU6050_RA_I2C_SLV0_REG 0x26
#define MPU6050_RA_I2C_SLV0_CTRL 0x27
#define MPU6050_RA_I2C_SLV1_ADDR 0x28
#define MPU6050_RA_I2C_SLV1_REG 0x29
#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
#define MPU6050_RA_I2C_SLV2_REG 0x2C
#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
#define MPU6050_RA_I2C_SLV3_REG 0x2F
#define MPU6050_RA_I2C_SLV3_CTRL 0x30
#define MPU6050_RA_I2C_SLV4_ADDR 0x31
#define MPU6050_RA_I2C_SLV4_REG 0x32
#define MPU6050_RA_I2C_SLV4_DO 0x33
#define MPU6050_RA_I2C_SLV4_CTRL 0x34
#define MPU6050_RA_I2C_SLV4_DI 0x35
#define MPU6050_RA_I2C_MST_STATUS 0x36
#define MPU6050_RA_INT_PIN_CFG 0x37
#define MPU6050_RA_INT_ENABLE 0x38
#define MPU6050_RA_DMP_INT_STATUS 0x39
#define MPU6050_RA_INT_STATUS 0x3A
#define MPU6050_RA_ACCEL_XOUT_H 0x3B
#define MPU6050_RA_ACCEL_XOUT_L 0x3C
#define MPU6050_RA_ACCEL_YOUT_H 0x3D
#define MPU6050_RA_ACCEL_YOUT_L 0x3E
#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
#define MPU6050_RA_ACCEL_ZOUT_L 0x40
#define MPU6050_RA_TEMP_OUT_H 0x41
#define MPU6050_RA_TEMP_OUT_L 0x42
#define MPU6050_RA_GYRO_XOUT_H 0x43
#define MPU6050_RA_GYRO_XOUT_L 0x44
#define MPU6050_RA_GYRO_YOUT_H 0x45
#define MPU6050_RA_GYRO_YOUT_L 0x46
#define MPU6050_RA_GYRO_ZOUT_H 0x47
#define MPU6050_RA_GYRO_ZOUT_L 0x48
#define MPU6050_RA_EXT_SENS_DATA_00 0x49
#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
#define MPU6050_RA_EXT_SENS_DATA_07 0x50
#define MPU6050_RA_EXT_SENS_DATA_08 0x51
#define MPU6050_RA_EXT_SENS_DATA_09 0x52
#define MPU6050_RA_EXT_SENS_DATA_10 0x53
#define MPU6050_RA_EXT_SENS_DATA_11 0x54
#define MPU6050_RA_EXT_SENS_DATA_12 0x55
#define MPU6050_RA_EXT_SENS_DATA_13 0x56
#define MPU6050_RA_EXT_SENS_DATA_14 0x57
#define MPU6050_RA_EXT_SENS_DATA_15 0x58
#define MPU6050_RA_EXT_SENS_DATA_16 0x59
#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
#define MPU6050_RA_EXT_SENS_DATA_23 0x60
#define MPU6050_RA_MOT_DETECT_STATUS 0x61
#define MPU6050_RA_I2C_SLV0_DO 0x63
#define MPU6050_RA_I2C_SLV1_DO 0x64
#define MPU6050_RA_I2C_SLV2_DO 0x65
#define MPU6050_RA_I2C_SLV3_DO 0x66
#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
#define MPU6050_RA_MOT_DETECT_CTRL 0x69
#define MPU6050_RA_USER_CTRL 0x6A
#define MPU6050_RA_PWR_MGMT_1 0x6B
#define MPU6050_RA_PWR_MGMT_2 0x6C
#define MPU6050_RA_BANK_SEL 0x6D
#define MPU6050_RA_MEM_START_ADDR 0x6E
#define MPU6050_RA_MEM_R_W 0x6F
#define MPU6050_RA_DMP_CFG_1 0x70
#define MPU6050_RA_DMP_CFG_2 0x71
#define MPU6050_RA_FIFO_COUNTH 0x72
#define MPU6050_RA_FIFO_COUNTL 0x73
#define MPU6050_RA_FIFO_R_W 0x74
#define MPU6050_RA_WHO_AM_I 0x75
 
#define MPU6050_SELF_TEST_XA_1_BIT 0x07
#define MPU6050_SELF_TEST_XA_1_LENGTH 0x03
#define MPU6050_SELF_TEST_XA_2_BIT 0x05
#define MPU6050_SELF_TEST_XA_2_LENGTH 0x02
#define MPU6050_SELF_TEST_YA_1_BIT 0x07
#define MPU6050_SELF_TEST_YA_1_LENGTH 0x03
#define MPU6050_SELF_TEST_YA_2_BIT 0x03
#define MPU6050_SELF_TEST_YA_2_LENGTH 0x02
#define MPU6050_SELF_TEST_ZA_1_BIT 0x07
#define MPU6050_SELF_TEST_ZA_1_LENGTH 0x03
#define MPU6050_SELF_TEST_ZA_2_BIT 0x01
#define MPU6050_SELF_TEST_ZA_2_LENGTH 0x02
 
#define MPU6050_SELF_TEST_XG_1_BIT 0x04
#define MPU6050_SELF_TEST_XG_1_LENGTH 0x05
#define MPU6050_SELF_TEST_YG_1_BIT 0x04
#define MPU6050_SELF_TEST_YG_1_LENGTH 0x05
#define MPU6050_SELF_TEST_ZG_1_BIT 0x04
#define MPU6050_SELF_TEST_ZG_1_LENGTH 0x05
 
#define MPU6050_TC_PWR_MODE_BIT 7
#define MPU6050_TC_OFFSET_BIT 6
#define MPU6050_TC_OFFSET_LENGTH 6
#define MPU6050_TC_OTP_BNK_VLD_BIT 0
 
#define MPU6050_VDDIO_LEVEL_VLOGIC 0
#define MPU6050_VDDIO_LEVEL_VDD 1
 
#define MPU6050_CFG_EXT_SYNC_SET_BIT 5
#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
#define MPU6050_CFG_DLPF_CFG_BIT 2
#define MPU6050_CFG_DLPF_CFG_LENGTH 3
 
#define MPU6050_EXT_SYNC_DISABLED 0x0
#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1
#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2
#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3
#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4
#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5
#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6
#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7
 
#define MPU6050_DLPF_BW_256 0x00
#define MPU6050_DLPF_BW_188 0x01
#define MPU6050_DLPF_BW_98 0x02
#define MPU6050_DLPF_BW_42 0x03
#define MPU6050_DLPF_BW_20 0x04
#define MPU6050_DLPF_BW_10 0x05
#define MPU6050_DLPF_BW_5 0x06
 
#define MPU6050_GCONFIG_FS_SEL_BIT 4
#define MPU6050_GCONFIG_FS_SEL_LENGTH 2
 
#define MPU6050_GYRO_FS_250 0x00
#define MPU6050_GYRO_FS_500 0x01
#define MPU6050_GYRO_FS_1000 0x02
#define MPU6050_GYRO_FS_2000 0x03
 
#define MPU6050_ACONFIG_XA_ST_BIT 7
#define MPU6050_ACONFIG_YA_ST_BIT 6
#define MPU6050_ACONFIG_ZA_ST_BIT 5
#define MPU6050_ACONFIG_AFS_SEL_BIT 4
#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2
#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3
 
#define MPU6050_ACCEL_FS_2 0x00
#define MPU6050_ACCEL_FS_4 0x01
#define MPU6050_ACCEL_FS_8 0x02
#define MPU6050_ACCEL_FS_16 0x03
 
#define MPU6050_DHPF_RESET 0x00
#define MPU6050_DHPF_5 0x01
#define MPU6050_DHPF_2P5 0x02
#define MPU6050_DHPF_1P25 0x03
#define MPU6050_DHPF_0P63 0x04
#define MPU6050_DHPF_HOLD 0x07
 
#define MPU6050_TEMP_FIFO_EN_BIT 7
#define MPU6050_XG_FIFO_EN_BIT 6
#define MPU6050_YG_FIFO_EN_BIT 5
#define MPU6050_ZG_FIFO_EN_BIT 4
#define MPU6050_ACCEL_FIFO_EN_BIT 3
#define MPU6050_SLV2_FIFO_EN_BIT 2
#define MPU6050_SLV1_FIFO_EN_BIT 1
#define MPU6050_SLV0_FIFO_EN_BIT 0
 
#define MPU6050_MULT_MST_EN_BIT 7
#define MPU6050_WAIT_FOR_ES_BIT 6
#define MPU6050_SLV_3_FIFO_EN_BIT 5
#define MPU6050_I2C_MST_P_NSR_BIT 4
#define MPU6050_I2C_MST_CLK_BIT 3
#define MPU6050_I2C_MST_CLK_LENGTH 4
 
#define MPU6050_CLOCK_DIV_348 0x0
#define MPU6050_CLOCK_DIV_333 0x1
#define MPU6050_CLOCK_DIV_320 0x2
#define MPU6050_CLOCK_DIV_308 0x3
#define MPU6050_CLOCK_DIV_296 0x4
#define MPU6050_CLOCK_DIV_286 0x5
#define MPU6050_CLOCK_DIV_276 0x6
#define MPU6050_CLOCK_DIV_267 0x7
#define MPU6050_CLOCK_DIV_258 0x8
#define MPU6050_CLOCK_DIV_500 0x9
#define MPU6050_CLOCK_DIV_471 0xA
#define MPU6050_CLOCK_DIV_444 0xB
#define MPU6050_CLOCK_DIV_421 0xC
#define MPU6050_CLOCK_DIV_400 0xD
#define MPU6050_CLOCK_DIV_381 0xE
#define MPU6050_CLOCK_DIV_364 0xF
 
#define MPU6050_I2C_SLV_RW_BIT 7
#define MPU6050_I2C_SLV_ADDR_BIT 6
#define MPU6050_I2C_SLV_ADDR_LENGTH 7
#define MPU6050_I2C_SLV_EN_BIT 7
#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
#define MPU6050_I2C_SLV_REG_DIS_BIT 5
#define MPU6050_I2C_SLV_GRP_BIT 4
#define MPU6050_I2C_SLV_LEN_BIT 3
#define MPU6050_I2C_SLV_LEN_LENGTH 4
 
#define MPU6050_I2C_SLV4_RW_BIT 7
#define MPU6050_I2C_SLV4_ADDR_BIT 6
#define MPU6050_I2C_SLV4_ADDR_LENGTH 7
#define MPU6050_I2C_SLV4_EN_BIT 7
#define MPU6050_I2C_SLV4_INT_EN_BIT 6
#define MPU6050_I2C_SLV4_REG_DIS_BIT 5
#define MPU6050_I2C_SLV4_MST_DLY_BIT 4
#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
 
#define MPU6050_MST_PASS_THROUGH_BIT 7
#define MPU6050_MST_I2C_SLV4_DONE_BIT 6
#define MPU6050_MST_I2C_LOST_ARB_BIT 5
#define MPU6050_MST_I2C_SLV4_NACK_BIT 4
#define MPU6050_MST_I2C_SLV3_NACK_BIT 3
#define MPU6050_MST_I2C_SLV2_NACK_BIT 2
#define MPU6050_MST_I2C_SLV1_NACK_BIT 1
#define MPU6050_MST_I2C_SLV0_NACK_BIT 0
 
#define MPU6050_INTCFG_INT_LEVEL_BIT 7
#define MPU6050_INTCFG_INT_OPEN_BIT 6
#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5
#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
#define MPU6050_INTCFG_CLKOUT_EN_BIT 0
 
#define MPU6050_INTMODE_ACTIVEHIGH 0x00
#define MPU6050_INTMODE_ACTIVELOW 0x01
 
#define MPU6050_INTDRV_PUSHPULL 0x00
#define MPU6050_INTDRV_OPENDRAIN 0x01
 
#define MPU6050_INTLATCH_50USPULSE 0x00
#define MPU6050_INTLATCH_WAITCLEAR 0x01
 
#define MPU6050_INTCLEAR_STATUSREAD 0x00
#define MPU6050_INTCLEAR_ANYREAD 0x01
 
#define MPU6050_INTERRUPT_FF_BIT 7
#define MPU6050_INTERRUPT_MOT_BIT 6
#define MPU6050_INTERRUPT_ZMOT_BIT 5
#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
#define MPU6050_INTERRUPT_DMP_INT_BIT 1
#define MPU6050_INTERRUPT_DATA_RDY_BIT 0
 
// TODO: figure out what these actually do
// UMPL source code is not very obivous
#define MPU6050_DMPINT_5_BIT 5
#define MPU6050_DMPINT_4_BIT 4
#define MPU6050_DMPINT_3_BIT 3
#define MPU6050_DMPINT_2_BIT 2
#define MPU6050_DMPINT_1_BIT 1
#define MPU6050_DMPINT_0_BIT 0
 
#define MPU6050_MOTION_MOT_XNEG_BIT 7
#define MPU6050_MOTION_MOT_XPOS_BIT 6
#define MPU6050_MOTION_MOT_YNEG_BIT 5
#define MPU6050_MOTION_MOT_YPOS_BIT 4
#define MPU6050_MOTION_MOT_ZNEG_BIT 3
#define MPU6050_MOTION_MOT_ZPOS_BIT 2
#define MPU6050_MOTION_MOT_ZRMOT_BIT 0
 
#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
 
#define MPU6050_PATHRESET_GYRO_RESET_BIT 2
#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1
#define MPU6050_PATHRESET_TEMP_RESET_BIT 0
 
#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
#define MPU6050_DETECT_FF_COUNT_BIT 3
#define MPU6050_DETECT_FF_COUNT_LENGTH 2
#define MPU6050_DETECT_MOT_COUNT_BIT 1
#define MPU6050_DETECT_MOT_COUNT_LENGTH 2
 
#define MPU6050_DETECT_DECREMENT_RESET 0x0
#define MPU6050_DETECT_DECREMENT_1 0x1
#define MPU6050_DETECT_DECREMENT_2 0x2
#define MPU6050_DETECT_DECREMENT_4 0x3
 
#define MPU6050_USERCTRL_DMP_EN_BIT 7
#define MPU6050_USERCTRL_FIFO_EN_BIT 6
#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5
#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
#define MPU6050_USERCTRL_DMP_RESET_BIT 3
#define MPU6050_USERCTRL_FIFO_RESET_BIT 2
#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0
 
#define MPU6050_PWR1_DEVICE_RESET_BIT 7
#define MPU6050_PWR1_SLEEP_BIT 6
#define MPU6050_PWR1_CYCLE_BIT 5
#define MPU6050_PWR1_TEMP_DIS_BIT 3
#define MPU6050_PWR1_CLKSEL_BIT 2
#define MPU6050_PWR1_CLKSEL_LENGTH 3
 
#define MPU6050_CLOCK_INTERNAL 0x00
#define MPU6050_CLOCK_PLL_XGYRO 0x01
#define MPU6050_CLOCK_PLL_YGYRO 0x02
#define MPU6050_CLOCK_PLL_ZGYRO 0x03
#define MPU6050_CLOCK_PLL_EXT32K 0x04
#define MPU6050_CLOCK_PLL_EXT19M 0x05
#define MPU6050_CLOCK_KEEP_RESET 0x07
 
#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
#define MPU6050_PWR2_STBY_XA_BIT 5
#define MPU6050_PWR2_STBY_YA_BIT 4
#define MPU6050_PWR2_STBY_ZA_BIT 3
#define MPU6050_PWR2_STBY_XG_BIT 2
#define MPU6050_PWR2_STBY_YG_BIT 1
#define MPU6050_PWR2_STBY_ZG_BIT 0
 
#define MPU6050_WAKE_FREQ_1P25 0x0
#define MPU6050_WAKE_FREQ_2P5 0x1
#define MPU6050_WAKE_FREQ_5 0x2
#define MPU6050_WAKE_FREQ_10 0x3
 
#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6
#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
#define MPU6050_BANKSEL_MEM_SEL_BIT 4
#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5
 
#define MPU6050_WHO_AM_I_BIT 6
#define MPU6050_WHO_AM_I_LENGTH 6
 
#define MPU6050_DMP_MEMORY_BANKS 8
#define MPU6050_DMP_MEMORY_BANK_SIZE 256
#define MPU6050_DMP_MEMORY_CHUNK_SIZE 16
 
class MPU6050
{
public:
    using SlaveId = uint8_t; // (0 - 3)
 
    struct Motion3 {
        int16_t x{};
        int16_t y{};
        int16_t z{};
        size_t printTo(Print& p) const;
    };
 
    struct Motion6 {
        Motion3 accel{};
        Motion3 gyro{};
        size_t printTo(Print& p) const;
    };
    MPU6050() : devAddr{MPU6050_DEFAULT_ADDRESS}
    {
    }
 
    MPU6050(uint8_t address) : devAddr{address}
    {
    }
 
    void initialize();
 
    bool testConnection()
    {
        return getDeviceID() == 0x34;
    }
 
    // AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
    uint8_t getAuxVDDIOLevel()
    {
        return readBit(MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT);
    }
 
    void setAuxVDDIOLevel(uint8_t level)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
    }
 
    // SMPLRT_DIV register
    uint8_t getRate()
    {
        return readByte(MPU6050_RA_SMPLRT_DIV);
    }
 
    void setRate(uint8_t rate)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
    }
 
    // CONFIG register
 
    uint8_t getExternalFrameSync()
    {
        return readBits(MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH);
    }
    void setExternalFrameSync(uint8_t sync)
    {
        I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH,
                          sync);
    }
    uint8_t getDLPFMode()
    {
        return readBits(MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH);
    }
    void setDLPFMode(uint8_t mode)
    {
        I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
    }
 
    // GYRO_CONFIG register
    uint8_t getFullScaleGyroRange()
    {
        return readBits(MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH);
    }
 
    void setFullScaleGyroRange(uint8_t range)
    {
        I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH,
                          range);
    }
 
    // SELF TEST FACTORY TRIM VALUES
    uint8_t getAccelXSelfTestFactoryTrim();
 
    uint8_t getAccelYSelfTestFactoryTrim();
 
    uint8_t getAccelZSelfTestFactoryTrim();
 
    uint8_t getGyroXSelfTestFactoryTrim();
 
    uint8_t getGyroYSelfTestFactoryTrim();
 
    uint8_t getGyroZSelfTestFactoryTrim();
 
    // ACCEL_CONFIG register
 
    bool getAccelXSelfTest()
    {
        return readBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT);
    }
    void setAccelXSelfTest(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
    }
    bool getAccelYSelfTest()
    {
        return readBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT);
    }
    void setAccelYSelfTest(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
    }
    bool getAccelZSelfTest()
    {
        return readBit(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT);
    }
    void setAccelZSelfTest(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
    }
    uint8_t getFullScaleAccelRange()
    {
        return readBits(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH);
    }
    void setFullScaleAccelRange(uint8_t range)
    {
        I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH,
                          range);
    }
    uint8_t getDHPFMode()
    {
        return readBits(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH);
    }
    void setDHPFMode(uint8_t bandwidth)
    {
        I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT,
                          MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
    }
 
    // FF_THR register
 
    uint8_t getFreefallDetectionThreshold()
    {
        return readByte(MPU6050_RA_FF_THR);
    }
    void setFreefallDetectionThreshold(uint8_t threshold)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold);
    }
 
    // FF_DUR register
 
    uint8_t getFreefallDetectionDuration()
    {
        return readByte(MPU6050_RA_FF_DUR);
    }
    void setFreefallDetectionDuration(uint8_t duration)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration);
    }
 
    // MOT_THR register
 
    uint8_t getMotionDetectionThreshold()
    {
        return readByte(MPU6050_RA_MOT_THR);
    }
    void setMotionDetectionThreshold(uint8_t threshold)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold);
    }
 
    // MOT_DUR register
 
    uint8_t getMotionDetectionDuration()
    {
        return readByte(MPU6050_RA_MOT_DUR);
    }
    void setMotionDetectionDuration(uint8_t duration)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration);
    }
 
    // ZRMOT_THR register
 
    uint8_t getZeroMotionDetectionThreshold()
    {
        return readByte(MPU6050_RA_ZRMOT_THR);
    }
    void setZeroMotionDetectionThreshold(uint8_t threshold)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold);
    }
 
    // ZRMOT_DUR register
 
    uint8_t getZeroMotionDetectionDuration()
    {
        return readByte(MPU6050_RA_ZRMOT_DUR);
    }
    void setZeroMotionDetectionDuration(uint8_t duration)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration);
    }
 
    // FIFO_EN register
 
    bool getTempFIFOEnabled()
    {
        return readBit(MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT);
    }
    void setTempFIFOEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
    }
    bool getXGyroFIFOEnabled()
    {
        return readBit(MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT);
    }
    void setXGyroFIFOEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
    }
    bool getYGyroFIFOEnabled()
    {
        return readBit(MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT);
    }
    void setYGyroFIFOEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
    }
    bool getZGyroFIFOEnabled()
    {
        return readBit(MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT);
    }
    void setZGyroFIFOEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
    }
    bool getAccelFIFOEnabled()
    {
        return readBit(MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT);
    }
    void setAccelFIFOEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled);
    }
    bool getSlave2FIFOEnabled()
    {
        return readBit(MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT);
    }
    void setSlave2FIFOEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled);
    }
    bool getSlave1FIFOEnabled()
    {
        return readBit(MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT);
    }
    void setSlave1FIFOEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
    }
    bool getSlave0FIFOEnabled()
    {
        return readBit(MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT);
    }
    void setSlave0FIFOEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
    }
 
    // I2C_MST_CTRL register
 
    bool getMultiMasterEnabled()
    {
        return readBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT);
    }
    void setMultiMasterEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
    }
    bool getWaitForExternalSensorEnabled()
    {
        return readBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT);
    }
    void setWaitForExternalSensorEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
    }
    bool getSlave3FIFOEnabled()
    {
        return readBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT);
    }
    void setSlave3FIFOEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
    }
    bool getSlaveReadWriteTransitionEnabled()
    {
        return readBit(MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT);
    }
    void setSlaveReadWriteTransitionEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled);
    }
    uint8_t getMasterClockSpeed()
    {
        return readBits(MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH);
    }
    void setMasterClockSpeed(uint8_t speed)
    {
        I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed);
    }
    // I2C_SLV* registers (Slave 0-3)
 
    uint8_t getSlaveAddress(SlaveId slaveId);
    void setSlaveAddress(SlaveId slaveId, uint8_t address);
 
    uint8_t getSlaveRegister(SlaveId slaveId);
 
    void setSlaveRegister(SlaveId slaveId, uint8_t reg);
 
    bool getSlaveEnabled(SlaveId slaveId);
    void setSlaveEnabled(SlaveId slaveId, bool enabled);
 
    bool getSlaveWordByteSwap(SlaveId slaveId);
 
    void setSlaveWordByteSwap(SlaveId slaveId, bool enabled);
 
    bool getSlaveWriteMode(SlaveId slaveId);
    void setSlaveWriteMode(SlaveId slaveId, bool mode);
 
    bool getSlaveWordGroupOffset(SlaveId slaveId);
 
    void setSlaveWordGroupOffset(SlaveId slaveId, bool enabled);
 
    uint8_t getSlaveDataLength(SlaveId slaveId);
 
    void setSlaveDataLength(SlaveId slaveId, uint8_t length);
 
    // I2C_SLV* registers (Slave 4)
 
    uint8_t getSlave4Address()
    {
        return readByte(MPU6050_RA_I2C_SLV4_ADDR);
    }
    void setSlave4Address(uint8_t address)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address);
    }
    uint8_t getSlave4Register()
    {
        return readByte(MPU6050_RA_I2C_SLV4_REG);
    }
    void setSlave4Register(uint8_t reg)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
    }
    void setSlave4OutputByte(uint8_t data)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data);
    }
    bool getSlave4Enabled()
    {
        return readBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT);
    }
    void setSlave4Enabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
    }
    bool getSlave4InterruptEnabled()
    {
        return readBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT);
    }
    void setSlave4InterruptEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
    }
    bool getSlave4WriteMode()
    {
        return readBit(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT);
    }
    void setSlave4WriteMode(bool mode)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
    }
    uint8_t getSlave4MasterDelay()
    {
        return readBits(MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH);
    }
    void setSlave4MasterDelay(uint8_t delay)
    {
        I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT,
                          MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
    }
    uint8_t getSlate4InputByte()
    {
        return readByte(MPU6050_RA_I2C_SLV4_DI);
    }
 
    // I2C_MST_STATUS register
 
    bool getPassthroughStatus()
    {
        return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT);
    }
    bool getSlave4IsDone()
    {
        return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT);
    }
    bool getLostArbitration()
    {
        return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT);
    }
    bool getSlave4Nack()
    {
        return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT);
    }
    bool getSlave3Nack()
    {
        return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT);
    }
    bool getSlave2Nack()
    {
        return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT);
    }
    bool getSlave1Nack()
    {
        return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT);
    }
    bool getSlave0Nack()
    {
        return readBit(MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT);
    }
 
    // INT_PIN_CFG register
 
    bool getInterruptMode()
    {
        return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT);
    }
    void setInterruptMode(bool mode)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
    }
    bool getInterruptDrive()
    {
        return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT);
    }
    void setInterruptDrive(bool drive)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
    }
    bool getInterruptLatch()
    {
        return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT);
    }
    void setInterruptLatch(bool latch)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
    }
    bool getInterruptLatchClear()
    {
        return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT);
    }
    void setInterruptLatchClear(bool clear)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
    }
    bool getFSyncInterruptLevel()
    {
        return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT);
    }
    void setFSyncInterruptLevel(bool level)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
    }
    bool getFSyncInterruptEnabled()
    {
        return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT);
    }
    void setFSyncInterruptEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
    }
    bool getI2CBypassEnabled()
    {
        return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT);
    }
    void setI2CBypassEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
    }
    bool getClockOutputEnabled()
    {
        return readBit(MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT);
    }
    void setClockOutputEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
    }
 
    // INT_ENABLE register
 
    uint8_t getIntEnabled()
    {
        return readByte(MPU6050_RA_INT_ENABLE);
    }
    void setIntEnabled(uint8_t enabled)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
    }
    bool getIntFreefallEnabled()
    {
        return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT);
    }
    void setIntFreefallEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled);
    }
    bool getIntMotionEnabled()
    {
        return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT);
    }
    void setIntMotionEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
    }
    bool getIntZeroMotionEnabled()
    {
        return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT);
    }
    void setIntZeroMotionEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
    }
    bool getIntFIFOBufferOverflowEnabled()
    {
        return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT);
    }
    void setIntFIFOBufferOverflowEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
    }
    bool getIntI2CMasterEnabled()
    {
        return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT);
    }
    void setIntI2CMasterEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
    }
    bool getIntDataReadyEnabled()
    {
        return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT);
    }
    void setIntDataReadyEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
    }
 
    // INT_STATUS register
 
    uint8_t getIntStatus()
    {
        return readByte(MPU6050_RA_INT_STATUS);
    }
    bool getIntFreefallStatus()
    {
        return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT);
    }
    bool getIntMotionStatus()
    {
        return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT);
    }
 
    bool getIntZeroMotionStatus()
    {
        return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT);
    }
 
    bool getIntFIFOBufferOverflowStatus()
    {
        return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT);
    }
 
    bool getIntI2CMasterStatus()
    {
        return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT);
    }
 
    bool getIntDataReadyStatus()
    {
        return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT);
    }
 
    // ACCEL_*OUT_* registers
 
    Motion6 getMotion6();
 
    Motion3 getAcceleration();
 
    int16_t getAccelerationX()
    {
        return readReg<int16_t>(MPU6050_RA_ACCEL_XOUT_H);
    }
    int16_t getAccelerationY()
    {
        return readReg<int16_t>(MPU6050_RA_ACCEL_YOUT_H);
    }
    int16_t getAccelerationZ()
    {
        return readReg<int16_t>(MPU6050_RA_ACCEL_ZOUT_H);
    }
 
    // TEMP_OUT_* registers
 
    int16_t getTemperature()
    {
        return readReg<int16_t>(MPU6050_RA_TEMP_OUT_H);
    }
 
    // GYRO_*OUT_* registers
 
    Motion3 getAngularRate();
 
    int16_t getAngularRateX()
    {
        return readReg<int16_t>(MPU6050_RA_GYRO_XOUT_H);
    }
    int16_t getAngularRateY()
    {
        return readReg<int16_t>(MPU6050_RA_GYRO_YOUT_H);
    }
    int16_t getAngularRateZ()
    {
        return readReg<int16_t>(MPU6050_RA_GYRO_ZOUT_H);
    }
 
    int16_t getAngularRateZ2()
    {
        return readReg<int16_t>(MPU6050_RA_GYRO_ZOUT_H);
    }
 
    // EXT_SENS_DATA_* registers
 
    uint8_t getExternalSensorByte(int position)
    {
        return readByte(MPU6050_RA_EXT_SENS_DATA_00 + position);
    }
    uint16_t getExternalSensorWord(int position)
    {
        return readReg<uint16_t>(MPU6050_RA_EXT_SENS_DATA_00 + position);
    }
    uint32_t getExternalSensorDWord(int position)
    {
        return readReg<uint32_t>(MPU6050_RA_EXT_SENS_DATA_00 + position);
    }
 
    // MOT_DETECT_STATUS register
 
    uint8_t getMotionStatus()
    {
        return readByte(MPU6050_RA_MOT_DETECT_STATUS);
    }
    bool getXNegMotionDetected()
    {
        return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT);
    }
    bool getXPosMotionDetected()
    {
        return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT);
    }
    bool getYNegMotionDetected()
    {
        return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT);
    }
    bool getYPosMotionDetected()
    {
        return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT);
    }
    bool getZNegMotionDetected()
    {
        return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT);
    }
    bool getZPosMotionDetected()
    {
        return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT);
    }
    bool getZeroMotionDetected()
    {
        return readBit(MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT);
    }
 
    // I2C_SLV*_DO register
 
    void setSlaveOutputByte(SlaveId slaveId, uint8_t data);
 
    // I2C_MST_DELAY_CTRL register
    bool getExternalShadowDelayEnabled()
    {
        return readBit(MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT);
    }
    void setExternalShadowDelayEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
    }
 
    bool getSlaveDelayEnabled(SlaveId slaveId);
 
    void setSlaveDelayEnabled(SlaveId slaveId, bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, slaveId, enabled);
    }
 
    // SIGNAL_PATH_RESET register
 
    void resetGyroscopePath()
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true);
    }
    void resetAccelerometerPath()
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true);
    }
    void resetTemperaturePath()
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true);
    }
 
    // MOT_DETECT_CTRL register
 
    uint8_t getAccelerometerPowerOnDelay()
    {
        return readBits(MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT,
                        MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH);
    }
    void setAccelerometerPowerOnDelay(uint8_t delay)
    {
        I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT,
                          MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
    }
    uint8_t getFreefallDetectionCounterDecrement()
    {
        return readBits(MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH);
    }
    void setFreefallDetectionCounterDecrement(uint8_t decrement)
    {
        I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT,
                          MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
    }
    uint8_t getMotionDetectionCounterDecrement()
    {
        return readBits(MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH);
    }
    void setMotionDetectionCounterDecrement(uint8_t decrement)
    {
        I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT,
                          MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
    }
 
    // USER_CTRL register
 
    bool getFIFOEnabled()
    {
        return readBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT);
    }
    void setFIFOEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
    }
    bool getI2CMasterModeEnabled()
    {
        return readBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT);
    }
    void setI2CMasterModeEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
    }
    void switchSPIEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
    }
    void resetFIFO()
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true);
    }
    void resetI2CMaster()
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true);
    }
    void resetSensors()
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true);
    }
 
    // PWR_MGMT_1 register
 
    void reset()
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true);
    }
    bool getSleepEnabled()
    {
        return readBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT);
    }
    void setSleepEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
    }
    bool getWakeCycleEnabled()
    {
        return readBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT);
    }
    void setWakeCycleEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
    }
    bool getTempSensorEnabled()
    {
        return readBit(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT); // 1 is actually disabled here
    }
    void setTempSensorEnabled(bool enabled)
    {
        // 1 is actually disabled here
        I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
    }
    uint8_t getClockSource()
    {
        return readBits(MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH);
    }
    void setClockSource(uint8_t source)
    {
        I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
    }
 
    // PWR_MGMT_2 register
 
    uint8_t getWakeFrequency()
    {
        return readBits(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH);
    }
    void setWakeFrequency(uint8_t frequency)
    {
        I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT,
                          MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
    }
 
    bool getStandbyXAccelEnabled()
    {
        return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT);
    }
    void setStandbyXAccelEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
    }
    bool getStandbyYAccelEnabled()
    {
        return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT);
    }
    void setStandbyYAccelEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
    }
    bool getStandbyZAccelEnabled()
    {
        return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT);
    }
    void setStandbyZAccelEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
    }
    bool getStandbyXGyroEnabled()
    {
        return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT);
    }
    void setStandbyXGyroEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
    }
    bool getStandbyYGyroEnabled()
    {
        return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT);
    }
    void setStandbyYGyroEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
    }
    bool getStandbyZGyroEnabled()
    {
        return readBit(MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT);
    }
    void setStandbyZGyroEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
    }
 
    // FIFO_COUNT* registers
 
    uint16_t getFIFOCount()
    {
        uint8_t buffer[2] = {0};
        I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
        return (((uint16_t)buffer[0]) << 8) | buffer[1];
    }
 
    // FIFO_R_W register
 
    uint8_t getFIFOByte()
    {
        return readByte(MPU6050_RA_FIFO_R_W);
    }
 
    void setFIFOByte(uint8_t data)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data);
    }
 
    void getFIFOBytes(uint8_t* data, uint8_t length)
    {
        I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data);
    }
 
    // WHO_AM_I register
 
    uint8_t getDeviceID()
    {
        return readBits(MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH);
    }
    void setDeviceID(uint8_t id)
    {
        I2Cdev::writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id);
    }
 
    // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
 
    // XG_OFFS_TC register
 
    uint8_t getOTPBankValid()
    {
        return readBit(MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT);
    }
    void setOTPBankValid(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
    }
    int8_t getXGyroOffsetTC()
    {
        return readBits(MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH);
    }
    void setXGyroOffsetTC(int8_t offset)
    {
        I2Cdev::writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
    }
 
    // YG_OFFS_TC register
 
    int8_t getYGyroOffsetTC()
    {
        return readBits(MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH);
    }
    void setYGyroOffsetTC(int8_t offset)
    {
        I2Cdev::writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
    }
 
    // ZG_OFFS_TC register
 
    int8_t getZGyroOffsetTC()
    {
        return readBits(MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH);
    }
    void setZGyroOffsetTC(int8_t offset)
    {
        I2Cdev::writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset);
    }
 
    // X_FINE_GAIN register
 
    int8_t getXFineGain()
    {
        return readByte(MPU6050_RA_X_FINE_GAIN);
    }
    void setXFineGain(int8_t gain)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain);
    }
 
    // Y_FINE_GAIN register
 
    int8_t getYFineGain()
    {
        return readByte(MPU6050_RA_Y_FINE_GAIN);
    }
    void setYFineGain(int8_t gain)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
    }
 
    // Z_FINE_GAIN register
 
    int8_t getZFineGain()
    {
        return readByte(MPU6050_RA_Z_FINE_GAIN);
    }
    void setZFineGain(int8_t gain)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
    }
 
    // XA_OFFS_* registers
    int16_t getXAccelOffset();
    void setXAccelOffset(int16_t offset)
    {
        I2Cdev::writeWord(devAddr, MPU6050_RA_XA_OFFS_H, offset);
    }
 
    // YA_OFFS_* register
    int16_t getYAccelOffset();
    void setYAccelOffset(int16_t offset)
    {
        I2Cdev::writeWord(devAddr, MPU6050_RA_YA_OFFS_H, offset);
    }
 
    // ZA_OFFS_* register
    int16_t getZAccelOffset();
    void setZAccelOffset(int16_t offset)
    {
        I2Cdev::writeWord(devAddr, MPU6050_RA_ZA_OFFS_H, offset);
    }
 
    // XG_OFFS_USR* registers
    int16_t getXGyroOffset()
    {
        return readReg<int16_t>(MPU6050_RA_XG_OFFS_USRH);
    }
    void setXGyroOffset(int16_t offset)
    {
        I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset);
    }
    // YG_OFFS_USR* register
    int16_t getYGyroOffset()
    {
        return readReg<int16_t>(MPU6050_RA_YG_OFFS_USRH);
    }
 
    void setYGyroOffset(int16_t offset)
    {
        I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset);
    }
 
    // ZG_OFFS_USR* register
    int16_t getZGyroOffset()
    {
        return readReg<int16_t>(MPU6050_RA_ZG_OFFS_USRH);
    }
 
    void setZGyroOffset(int16_t offset)
    {
        I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset);
    }
 
    // INT_ENABLE register (DMP functions)
    bool getIntPLLReadyEnabled()
    {
        return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT);
    }
    void setIntPLLReadyEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
    }
    bool getIntDMPEnabled()
    {
        return readBit(MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT);
    }
    void setIntDMPEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
    }
 
    // DMP_INT_STATUS
    bool getDMPInt5Status()
    {
        return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT);
    }
    bool getDMPInt4Status()
    {
        return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT);
    }
    bool getDMPInt3Status()
    {
        return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT);
    }
    bool getDMPInt2Status()
    {
        return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT);
    }
    bool getDMPInt1Status()
    {
        return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT);
    }
    bool getDMPInt0Status()
    {
        return readBit(MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT);
    }
 
    // INT_STATUS register (DMP functions)
 
    bool getIntPLLReadyStatus()
    {
        return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT);
    }
    bool getIntDMPStatus()
    {
        return readBit(MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT);
    }
 
    // USER_CTRL register (DMP functions)
 
    bool getDMPEnabled()
    {
        return readBit(MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT);
    }
    void setDMPEnabled(bool enabled)
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
    }
    void resetDMP()
    {
        I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true);
    }
 
    // BANK_SEL register
    void setMemoryBank(uint8_t bank, bool prefetchEnabled = false, bool userBank = false);
 
    // MEM_START_ADDR register
    void setMemoryStartAddress(uint8_t address)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
    }
 
    // MEM_R_W register
    uint8_t readMemoryByte()
    {
        return readByte(MPU6050_RA_MEM_R_W);
    }
 
    void writeMemoryByte(uint8_t data)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_R_W, data);
    }
 
    // DMP_CFG_1 register
    uint8_t getDMPConfig1()
    {
        return readByte(MPU6050_RA_DMP_CFG_1);
    }
 
    void setDMPConfig1(uint8_t config)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config);
    }
 
    // DMP_CFG_2 register
    uint8_t getDMPConfig2()
    {
        return readByte(MPU6050_RA_DMP_CFG_2);
    }
 
    void setDMPConfig2(uint8_t config)
    {
        I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
    }
 
private:
    // I2C helpers
    uint8_t readBit(uint8_t regAddr, uint8_t bitNum);
    uint8_t readBits(uint8_t regAddr, uint8_t bitStart, uint8_t length);
    uint8_t readByte(uint8_t regAddr);
 
    template <typename T> T readReg(uint8_t regAddr);
 
    uint8_t devAddr;
};
 
template <typename T> T MPU6050::readReg(uint8_t regAddr)
{
    static_assert(std::is_fundamental<T>::value, "T must be an fundamental type.");
 
    const auto sz = sizeof(T);
    uint8_t buffer[sz] = {0};
    //data follow big endian convention
    I2Cdev::readBytes(devAddr, regAddr, sz, buffer);
 
    T result{};
    for(size_t i{0}; i < sz; ++i) {
        result |= static_cast<T>(buffer[i]) << (8 * (sz - i - 1));
    }
    return result;
}
 
namespace detail
{
template <typename T = int16_t> inline T concat(uint8_t bits_15_8, uint8_t bits_7_0)
{
    return (static_cast<T>(bits_15_8) << 8) | bits_7_0;
}
} // namespace detail