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GliderThrow_Meter
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Public Member Functions | |
| MPU6050 () | |
| MPU6050 (uint8_t address) | |
| void | ReadRegister (uint8_t reg, uint8_t *data, uint8_t len) |
| void | initialize () |
| bool | testConnection () |
| uint8_t | getAuxVDDIOLevel () |
| void | setAuxVDDIOLevel (uint8_t level) |
| uint8_t | getRate () |
| void | setRate (uint8_t rate) |
| uint8_t | getExternalFrameSync () |
| void | setExternalFrameSync (uint8_t sync) |
| uint8_t | getDLPFMode () |
| void | setDLPFMode (uint8_t bandwidth) |
| uint8_t | getFullScaleGyroRange () |
| void | setFullScaleGyroRange (uint8_t range) |
| uint8_t | getAccelXSelfTestFactoryTrim () |
| uint8_t | getAccelYSelfTestFactoryTrim () |
| uint8_t | getAccelZSelfTestFactoryTrim () |
| uint8_t | getGyroXSelfTestFactoryTrim () |
| uint8_t | getGyroYSelfTestFactoryTrim () |
| uint8_t | getGyroZSelfTestFactoryTrim () |
| bool | getAccelXSelfTest () |
| void | setAccelXSelfTest (bool enabled) |
| bool | getAccelYSelfTest () |
| void | setAccelYSelfTest (bool enabled) |
| bool | getAccelZSelfTest () |
| void | setAccelZSelfTest (bool enabled) |
| uint8_t | getFullScaleAccelRange () |
| void | setFullScaleAccelRange (uint8_t range) |
| uint8_t | getDHPFMode () |
| void | setDHPFMode (uint8_t mode) |
| uint8_t | getFreefallDetectionThreshold () |
| void | setFreefallDetectionThreshold (uint8_t threshold) |
| uint8_t | getFreefallDetectionDuration () |
| void | setFreefallDetectionDuration (uint8_t duration) |
| uint8_t | getMotionDetectionThreshold () |
| void | setMotionDetectionThreshold (uint8_t threshold) |
| uint8_t | getMotionDetectionDuration () |
| void | setMotionDetectionDuration (uint8_t duration) |
| uint8_t | getZeroMotionDetectionThreshold () |
| void | setZeroMotionDetectionThreshold (uint8_t threshold) |
| uint8_t | getZeroMotionDetectionDuration () |
| void | setZeroMotionDetectionDuration (uint8_t duration) |
| bool | getTempFIFOEnabled () |
| void | setTempFIFOEnabled (bool enabled) |
| bool | getXGyroFIFOEnabled () |
| void | setXGyroFIFOEnabled (bool enabled) |
| bool | getYGyroFIFOEnabled () |
| void | setYGyroFIFOEnabled (bool enabled) |
| bool | getZGyroFIFOEnabled () |
| void | setZGyroFIFOEnabled (bool enabled) |
| bool | getAccelFIFOEnabled () |
| void | setAccelFIFOEnabled (bool enabled) |
| bool | getSlave2FIFOEnabled () |
| void | setSlave2FIFOEnabled (bool enabled) |
| bool | getSlave1FIFOEnabled () |
| void | setSlave1FIFOEnabled (bool enabled) |
| bool | getSlave0FIFOEnabled () |
| void | setSlave0FIFOEnabled (bool enabled) |
| bool | getMultiMasterEnabled () |
| void | setMultiMasterEnabled (bool enabled) |
| bool | getWaitForExternalSensorEnabled () |
| void | setWaitForExternalSensorEnabled (bool enabled) |
| bool | getSlave3FIFOEnabled () |
| void | setSlave3FIFOEnabled (bool enabled) |
| bool | getSlaveReadWriteTransitionEnabled () |
| void | setSlaveReadWriteTransitionEnabled (bool enabled) |
| uint8_t | getMasterClockSpeed () |
| void | setMasterClockSpeed (uint8_t speed) |
| uint8_t | getSlaveAddress (uint8_t num) |
| void | setSlaveAddress (uint8_t num, uint8_t address) |
| uint8_t | getSlaveRegister (uint8_t num) |
| void | setSlaveRegister (uint8_t num, uint8_t reg) |
| bool | getSlaveEnabled (uint8_t num) |
| void | setSlaveEnabled (uint8_t num, bool enabled) |
| bool | getSlaveWordByteSwap (uint8_t num) |
| void | setSlaveWordByteSwap (uint8_t num, bool enabled) |
| bool | getSlaveWriteMode (uint8_t num) |
| void | setSlaveWriteMode (uint8_t num, bool mode) |
| bool | getSlaveWordGroupOffset (uint8_t num) |
| void | setSlaveWordGroupOffset (uint8_t num, bool enabled) |
| uint8_t | getSlaveDataLength (uint8_t num) |
| void | setSlaveDataLength (uint8_t num, uint8_t length) |
| uint8_t | getSlave4Address () |
| void | setSlave4Address (uint8_t address) |
| uint8_t | getSlave4Register () |
| void | setSlave4Register (uint8_t reg) |
| void | setSlave4OutputByte (uint8_t data) |
| bool | getSlave4Enabled () |
| void | setSlave4Enabled (bool enabled) |
| bool | getSlave4InterruptEnabled () |
| void | setSlave4InterruptEnabled (bool enabled) |
| bool | getSlave4WriteMode () |
| void | setSlave4WriteMode (bool mode) |
| uint8_t | getSlave4MasterDelay () |
| void | setSlave4MasterDelay (uint8_t delay) |
| uint8_t | getSlate4InputByte () |
| bool | getPassthroughStatus () |
| bool | getSlave4IsDone () |
| bool | getLostArbitration () |
| bool | getSlave4Nack () |
| bool | getSlave3Nack () |
| bool | getSlave2Nack () |
| bool | getSlave1Nack () |
| bool | getSlave0Nack () |
| bool | getInterruptMode () |
| void | setInterruptMode (bool mode) |
| bool | getInterruptDrive () |
| void | setInterruptDrive (bool drive) |
| bool | getInterruptLatch () |
| void | setInterruptLatch (bool latch) |
| bool | getInterruptLatchClear () |
| void | setInterruptLatchClear (bool clear) |
| bool | getFSyncInterruptLevel () |
| void | setFSyncInterruptLevel (bool level) |
| bool | getFSyncInterruptEnabled () |
| void | setFSyncInterruptEnabled (bool enabled) |
| bool | getI2CBypassEnabled () |
| void | setI2CBypassEnabled (bool enabled) |
| bool | getClockOutputEnabled () |
| void | setClockOutputEnabled (bool enabled) |
| uint8_t | getIntEnabled () |
| void | setIntEnabled (uint8_t enabled) |
| bool | getIntFreefallEnabled () |
| void | setIntFreefallEnabled (bool enabled) |
| bool | getIntMotionEnabled () |
| void | setIntMotionEnabled (bool enabled) |
| bool | getIntZeroMotionEnabled () |
| void | setIntZeroMotionEnabled (bool enabled) |
| bool | getIntFIFOBufferOverflowEnabled () |
| void | setIntFIFOBufferOverflowEnabled (bool enabled) |
| bool | getIntI2CMasterEnabled () |
| void | setIntI2CMasterEnabled (bool enabled) |
| bool | getIntDataReadyEnabled () |
| void | setIntDataReadyEnabled (bool enabled) |
| uint8_t | getIntStatus () |
| bool | getIntFreefallStatus () |
| bool | getIntMotionStatus () |
| bool | getIntZeroMotionStatus () |
| bool | getIntFIFOBufferOverflowStatus () |
| bool | getIntI2CMasterStatus () |
| bool | getIntDataReadyStatus () |
| void | getMotion9 (int16_t *ax, int16_t *ay, int16_t *az, int16_t *gx, int16_t *gy, int16_t *gz, int16_t *mx, int16_t *my, int16_t *mz) |
| void | getMotion6 (int16_t *ax, int16_t *ay, int16_t *az, int16_t *gx, int16_t *gy, int16_t *gz) |
| void | getAcceleration (int16_t *x, int16_t *y, int16_t *z) |
| int16_t | getAccelerationX () |
| int16_t | getAccelerationY () |
| int16_t | getAccelerationZ () |
| int16_t | getTemperature () |
| void | getRotation (int16_t *x, int16_t *y, int16_t *z) |
| int16_t | getRotationX () |
| int16_t | getRotationY () |
| int16_t | getRotationZ () |
| uint8_t | getExternalSensorByte (int position) |
| uint16_t | getExternalSensorWord (int position) |
| uint32_t | getExternalSensorDWord (int position) |
| uint8_t | getMotionStatus () |
| bool | getXNegMotionDetected () |
| bool | getXPosMotionDetected () |
| bool | getYNegMotionDetected () |
| bool | getYPosMotionDetected () |
| bool | getZNegMotionDetected () |
| bool | getZPosMotionDetected () |
| bool | getZeroMotionDetected () |
| void | setSlaveOutputByte (uint8_t num, uint8_t data) |
| bool | getExternalShadowDelayEnabled () |
| void | setExternalShadowDelayEnabled (bool enabled) |
| bool | getSlaveDelayEnabled (uint8_t num) |
| void | setSlaveDelayEnabled (uint8_t num, bool enabled) |
| void | resetGyroscopePath () |
| void | resetAccelerometerPath () |
| void | resetTemperaturePath () |
| uint8_t | getAccelerometerPowerOnDelay () |
| void | setAccelerometerPowerOnDelay (uint8_t delay) |
| uint8_t | getFreefallDetectionCounterDecrement () |
| void | setFreefallDetectionCounterDecrement (uint8_t decrement) |
| uint8_t | getMotionDetectionCounterDecrement () |
| void | setMotionDetectionCounterDecrement (uint8_t decrement) |
| bool | getFIFOEnabled () |
| void | setFIFOEnabled (bool enabled) |
| bool | getI2CMasterModeEnabled () |
| void | setI2CMasterModeEnabled (bool enabled) |
| void | switchSPIEnabled (bool enabled) |
| void | resetFIFO () |
| void | resetI2CMaster () |
| void | resetSensors () |
| void | reset () |
| bool | getSleepEnabled () |
| void | setSleepEnabled (bool enabled) |
| bool | getWakeCycleEnabled () |
| void | setWakeCycleEnabled (bool enabled) |
| bool | getTempSensorEnabled () |
| void | setTempSensorEnabled (bool enabled) |
| uint8_t | getClockSource () |
| void | setClockSource (uint8_t source) |
| uint8_t | getWakeFrequency () |
| void | setWakeFrequency (uint8_t frequency) |
| bool | getStandbyXAccelEnabled () |
| void | setStandbyXAccelEnabled (bool enabled) |
| bool | getStandbyYAccelEnabled () |
| void | setStandbyYAccelEnabled (bool enabled) |
| bool | getStandbyZAccelEnabled () |
| void | setStandbyZAccelEnabled (bool enabled) |
| bool | getStandbyXGyroEnabled () |
| void | setStandbyXGyroEnabled (bool enabled) |
| bool | getStandbyYGyroEnabled () |
| void | setStandbyYGyroEnabled (bool enabled) |
| bool | getStandbyZGyroEnabled () |
| void | setStandbyZGyroEnabled (bool enabled) |
| uint16_t | getFIFOCount () |
| uint8_t | getFIFOByte () |
| void | setFIFOByte (uint8_t data) |
| void | getFIFOBytes (uint8_t *data, uint8_t length) |
| uint8_t | getDeviceID () |
| void | setDeviceID (uint8_t id) |
| uint8_t | getOTPBankValid () |
| void | setOTPBankValid (bool enabled) |
| int8_t | getXGyroOffsetTC () |
| void | setXGyroOffsetTC (int8_t offset) |
| int8_t | getYGyroOffsetTC () |
| void | setYGyroOffsetTC (int8_t offset) |
| int8_t | getZGyroOffsetTC () |
| void | setZGyroOffsetTC (int8_t offset) |
| int8_t | getXFineGain () |
| void | setXFineGain (int8_t gain) |
| int8_t | getYFineGain () |
| void | setYFineGain (int8_t gain) |
| int8_t | getZFineGain () |
| void | setZFineGain (int8_t gain) |
| int16_t | getXAccelOffset () |
| void | setXAccelOffset (int16_t offset) |
| int16_t | getYAccelOffset () |
| void | setYAccelOffset (int16_t offset) |
| int16_t | getZAccelOffset () |
| void | setZAccelOffset (int16_t offset) |
| int16_t | getXGyroOffset () |
| void | setXGyroOffset (int16_t offset) |
| int16_t | getYGyroOffset () |
| void | setYGyroOffset (int16_t offset) |
| int16_t | getZGyroOffset () |
| void | setZGyroOffset (int16_t offset) |
| bool | getIntPLLReadyEnabled () |
| void | setIntPLLReadyEnabled (bool enabled) |
| bool | getIntDMPEnabled () |
| void | setIntDMPEnabled (bool enabled) |
| bool | getDMPInt5Status () |
| bool | getDMPInt4Status () |
| bool | getDMPInt3Status () |
| bool | getDMPInt2Status () |
| bool | getDMPInt1Status () |
| bool | getDMPInt0Status () |
| bool | getIntPLLReadyStatus () |
| bool | getIntDMPStatus () |
| bool | getDMPEnabled () |
| void | setDMPEnabled (bool enabled) |
| void | resetDMP () |
| void | setMemoryBank (uint8_t bank, bool prefetchEnabled=false, bool userBank=false) |
| void | setMemoryStartAddress (uint8_t address) |
| uint8_t | readMemoryByte () |
| void | writeMemoryByte (uint8_t data) |
| void | readMemoryBlock (uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0) |
| bool | writeMemoryBlock (const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false) |
| bool | writeProgMemoryBlock (const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true) |
| bool | writeDMPConfigurationSet (const uint8_t *data, uint16_t dataSize, bool useProgMem=false) |
| bool | writeProgDMPConfigurationSet (const uint8_t *data, uint16_t dataSize) |
| uint8_t | getDMPConfig1 () |
| void | setDMPConfig1 (uint8_t config) |
| uint8_t | getDMPConfig2 () |
| void | setDMPConfig2 (uint8_t config) |
| uint8_t | dmpInitialize () |
| bool | dmpPacketAvailable () |
| uint8_t | dmpSetFIFORate (uint8_t fifoRate) |
| uint8_t | dmpGetFIFORate () |
| uint8_t | dmpGetSampleStepSizeMS () |
| uint8_t | dmpGetSampleFrequency () |
| int32_t | dmpDecodeTemperature (int8_t tempReg) |
| uint8_t | dmpRunFIFORateProcesses () |
| uint8_t | dmpSendQuaternion (uint_fast16_t accuracy) |
| uint8_t | dmpSendGyro (uint_fast16_t elements, uint_fast16_t accuracy) |
| uint8_t | dmpSendAccel (uint_fast16_t elements, uint_fast16_t accuracy) |
| uint8_t | dmpSendLinearAccel (uint_fast16_t elements, uint_fast16_t accuracy) |
| uint8_t | dmpSendLinearAccelInWorld (uint_fast16_t elements, uint_fast16_t accuracy) |
| uint8_t | dmpSendControlData (uint_fast16_t elements, uint_fast16_t accuracy) |
| uint8_t | dmpSendSensorData (uint_fast16_t elements, uint_fast16_t accuracy) |
| uint8_t | dmpSendExternalSensorData (uint_fast16_t elements, uint_fast16_t accuracy) |
| uint8_t | dmpSendGravity (uint_fast16_t elements, uint_fast16_t accuracy) |
| uint8_t | dmpSendPacketNumber (uint_fast16_t accuracy) |
| uint8_t | dmpSendQuantizedAccel (uint_fast16_t elements, uint_fast16_t accuracy) |
| uint8_t | dmpSendEIS (uint_fast16_t elements, uint_fast16_t accuracy) |
| uint8_t | dmpGetAccel (int32_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetAccel (int16_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetAccel (VectorInt16 *v, const uint8_t *packet=0) |
| uint8_t | dmpGetQuaternion (int32_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetQuaternion (int16_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetQuaternion (Quaternion *q, const uint8_t *packet=0) |
| uint8_t | dmpGet6AxisQuaternion (int32_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGet6AxisQuaternion (int16_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGet6AxisQuaternion (Quaternion *q, const uint8_t *packet=0) |
| uint8_t | dmpGetRelativeQuaternion (int32_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetRelativeQuaternion (int16_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetRelativeQuaternion (Quaternion *data, const uint8_t *packet=0) |
| uint8_t | dmpGetGyro (int32_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetGyro (int16_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetGyro (VectorInt16 *v, const uint8_t *packet=0) |
| uint8_t | dmpSetLinearAccelFilterCoefficient (float coef) |
| uint8_t | dmpGetLinearAccel (int32_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetLinearAccel (int16_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetLinearAccel (VectorInt16 *v, const uint8_t *packet=0) |
| uint8_t | dmpGetLinearAccel (VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity) |
| uint8_t | dmpGetLinearAccelInWorld (int32_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetLinearAccelInWorld (int16_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetLinearAccelInWorld (VectorInt16 *v, const uint8_t *packet=0) |
| uint8_t | dmpGetLinearAccelInWorld (VectorInt16 *v, VectorInt16 *vReal, Quaternion *q) |
| uint8_t | dmpGetGyroAndAccelSensor (int32_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetGyroAndAccelSensor (int16_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetGyroAndAccelSensor (VectorInt16 *g, VectorInt16 *a, const uint8_t *packet=0) |
| uint8_t | dmpGetGyroSensor (int32_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetGyroSensor (int16_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetGyroSensor (VectorInt16 *v, const uint8_t *packet=0) |
| uint8_t | dmpGetControlData (int32_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetTemperature (int32_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetGravity (int32_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetGravity (int16_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetGravity (VectorInt16 *v, const uint8_t *packet=0) |
| uint8_t | dmpGetGravity (VectorFloat *v, Quaternion *q) |
| uint8_t | dmpGetUnquantizedAccel (int32_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetUnquantizedAccel (int16_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetUnquantizedAccel (VectorInt16 *v, const uint8_t *packet=0) |
| uint8_t | dmpGetQuantizedAccel (int32_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetQuantizedAccel (int16_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetQuantizedAccel (VectorInt16 *v, const uint8_t *packet=0) |
| uint8_t | dmpGetExternalSensorData (int32_t *data, uint16_t size, const uint8_t *packet=0) |
| uint8_t | dmpGetEIS (int32_t *data, const uint8_t *packet=0) |
| uint8_t | dmpGetEuler (float *data, Quaternion *q) |
| uint8_t | dmpGetYawPitchRoll (float *data, Quaternion *q, VectorFloat *gravity) |
| uint8_t | dmpGetAccelFloat (float *data, const uint8_t *packet=0) |
| uint8_t | dmpGetQuaternionFloat (float *data, const uint8_t *packet=0) |
| uint8_t | dmpProcessFIFOPacket (const unsigned char *dmpData) |
| uint8_t | dmpReadAndProcessFIFOPacket (uint8_t numPackets, uint8_t *processed=NULL) |
| uint8_t | dmpSetFIFOProcessedCallback (void(*func)(void)) |
| uint8_t | dmpInitFIFOParam () |
| uint8_t | dmpCloseFIFO () |
| uint8_t | dmpSetGyroDataSource (uint8_t source) |
| uint8_t | dmpDecodeQuantizedAccel () |
| uint32_t | dmpGetGyroSumOfSquare () |
| uint32_t | dmpGetAccelSumOfSquare () |
| void | dmpOverrideQuaternion (long *q) |
| uint16_t | dmpGetFIFOPacketSize () |
Data Fields | |
| uint8_t * | dmpPacketBuffer |
| uint16_t | dmpPacketSize |
| MPU6050 | ( | ) |
Default constructor, uses default I2C address.
| MPU6050 | ( | uint8_t | address | ) |
Specific address constructor.
| address | I2C address |
| void getAcceleration | ( | int16_t * | x, |
| int16_t * | y, | ||
| int16_t * | z | ||
| ) |
Get 3-axis accelerometer readings. These registers store the most recent accelerometer measurements. Accelerometer measurements are written to these registers at the Sample Rate as defined in Register 25.
The accelerometer measurement registers, along with the temperature measurement registers, gyroscope measurement registers, and external sensor data registers, are composed of two sets of registers: an internal register set and a user-facing read register set.
The data within the accelerometer sensors' internal register set is always updated at the Sample Rate. Meanwhile, the user-facing read register set duplicates the internal register set's data values whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read measurements from the same sampling instant. Note that if burst reads are not used, the user is responsible for ensuring a set of single byte reads correspond to a single sampling instant by checking the Data Ready interrupt.
Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS (Register 28). For each full scale setting, the accelerometers' sensitivity per LSB in ACCEL_xOUT is shown in the table below:
AFS_SEL | Full Scale Range | LSB Sensitivity --------+------------------+---------------- 0 | +/- 2g | 8192 LSB/mg 1 | +/- 4g | 4096 LSB/mg 2 | +/- 8g | 2048 LSB/mg 3 | +/- 16g | 1024 LSB/mg
| x | 16-bit signed integer container for X-axis acceleration |
| y | 16-bit signed integer container for Y-axis acceleration |
| z | 16-bit signed integer container for Z-axis acceleration |
| int16_t getAccelerationX | ( | ) |
Get X-axis accelerometer reading.
| int16_t getAccelerationY | ( | ) |
Get Y-axis accelerometer reading.
| int16_t getAccelerationZ | ( | ) |
Get Z-axis accelerometer reading.
| uint8_t getAccelerometerPowerOnDelay | ( | ) |
Get accelerometer power-on delay. The accelerometer data path provides samples to the sensor registers, Motion detection, Zero Motion detection, and Free Fall detection modules. The signal path contains filters which must be flushed on wake-up with new samples before the detection modules begin operations. The default wake-up delay, of 4ms can be lengthened by up to 3ms. This additional delay is specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select any value above zero unless instructed otherwise by InvenSense. Please refer to Section 8 of the MPU-6000/MPU-6050 Product Specification document for further information regarding the detection modules.
| bool getAccelFIFOEnabled | ( | ) |
Get accelerometer FIFO enabled value. When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H, ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be written into the FIFO buffer.
| bool getAccelXSelfTest | ( | ) |
Get self-test enabled setting for accelerometer X axis.
| uint8_t getAccelXSelfTestFactoryTrim | ( | ) |
Get self-test factory trim value for accelerometer X axis.
| bool getAccelYSelfTest | ( | ) |
Get self-test enabled value for accelerometer Y axis.
| uint8_t getAccelYSelfTestFactoryTrim | ( | ) |
Get self-test factory trim value for accelerometer Y axis.
| bool getAccelZSelfTest | ( | ) |
Get self-test enabled value for accelerometer Z axis.
| uint8_t getAccelZSelfTestFactoryTrim | ( | ) |
Get self-test factory trim value for accelerometer Z axis.
| uint8_t getAuxVDDIOLevel | ( | ) |
Get the auxiliary I2C supply voltage level. When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to the MPU-6000, which does not have a VLOGIC pin.
| bool getClockOutputEnabled | ( | ) |
Get reference clock output enabled status. When this bit is equal to 1, a reference clock output is provided at the CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For further information regarding CLKOUT, please refer to the MPU-60X0 Product Specification document.
| uint8_t getClockSource | ( | ) |
Get clock source setting.
| uint8_t getDeviceID | ( | ) |
Get Device ID. This register is used to verify the identity of the device (0b110100, 0x34).
| uint8_t getDHPFMode | ( | ) |
Get the high-pass filter configuration. The DHPF is a filter module in the path leading to motion detectors (Free Fall, Motion threshold, and Zero Motion). The high pass filter output is not available to the data registers (see Figure in Section 8 of the MPU-6000/ MPU-6050 Product Specification document).
The high pass filter has three modes:
Reset: The filter output settles to zero within one sample. This effectively disables the high pass filter. This mode may be toggled to quickly settle the filter.
On: The high pass filter will pass signals above the cut off frequency.
Hold: When triggered, the filter holds the present sample. The filter output will be the difference between the input sample and the held sample.
ACCEL_HPF | Filter Mode | Cut-off Frequency ----------+-------------+------------------ 0 | Reset | None 1 | On | 5Hz 2 | On | 2.5Hz 3 | On | 1.25Hz 4 | On | 0.63Hz 7 | Hold | None
| uint8_t getDLPFMode | ( | ) |
Get digital low-pass filter configuration. The DLPF_CFG parameter sets the digital low pass filter configuration. It also determines the internal sampling rate used by the device as shown in the table below.
Note: The accelerometer output rate is 1kHz. This means that for a Sample Rate greater than 1kHz, the same accelerometer sample may be output to the FIFO, DMP, and sensor registers more than once.
| 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
| uint8_t getExternalFrameSync | ( | ) |
Get external FSYNC configuration. Configures the external Frame Synchronization (FSYNC) pin sampling. An external signal connected to the FSYNC pin can be sampled by configuring EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short strobes may be captured. The latched FSYNC signal will be sampled at the Sampling Rate, as defined in register 25. After sampling, the latch will reset to the current FSYNC signal state.
The sampled value will be reported in place of the least significant bit in a sensor data register determined by the value of EXT_SYNC_SET according to the following table.
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]
| uint8_t getExternalSensorByte | ( | int | position | ) |
Read single byte from external sensor data register. These registers store data read from external sensors by the Slave 0, 1, 2, and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in I2C_SLV4_DI (Register 53).
External sensor data is written to these registers at the Sample Rate as defined in Register 25. This access rate can be reduced by using the Slave Delay Enable registers (Register 103).
External sensor data registers, along with the gyroscope measurement registers, accelerometer measurement registers, and temperature measurement registers, are composed of two sets of registers: an internal register set and a user-facing read register set.
The data within the external sensors' internal register set is always updated at the Sample Rate (or the reduced access rate) whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read measurements from the same sampling instant. Note that if burst reads are not used, the user is responsible for ensuring a set of single byte reads correspond to a single sampling instant by checking the Data Ready interrupt.
Data is placed in these external sensor data registers according to I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39, 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as defined in Register 25) or delayed rate (if specified in Register 52 and 103). During each Sample cycle, slave reads are performed in order of Slave number. If all slaves are enabled with more than zero bytes to be read, the order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3.
Each enabled slave will have EXT_SENS_DATA registers associated with it by number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may change the higher numbered slaves' associated registers. Furthermore, if fewer total bytes are being read from the external sensors as a result of such a change, then the data remaining in the registers which no longer have an associated slave device (i.e. high numbered registers) will remain in these previously allocated registers unless reset.
If the sum of the read lengths of all SLVx transactions exceed the number of available EXT_SENS_DATA registers, the excess bytes will be dropped. There are 24 EXT_SENS_DATA registers and hence the total read lengths between all the slaves cannot be greater than 24 or some bytes will be lost.
Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further information regarding the characteristics of Slave 4, please refer to Registers 49 to 53.
EXAMPLE: Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00 through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05 will be associated with Slave 1. If Slave 2 is enabled as well, registers starting from EXT_SENS_DATA_06 will be allocated to Slave 2.
If Slave 2 is disabled while Slave 3 is enabled in this same situation, then registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3 instead.
REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE: If a slave is disabled at any time, the space initially allocated to the slave in the EXT_SENS_DATA register, will remain associated with that slave. This is to avoid dynamic adjustment of the register allocation.
The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106).
This above is also true if one of the slaves gets NACKed and stops functioning.
| position | Starting position (0-23) |
| uint32_t getExternalSensorDWord | ( | int | position | ) |
Read double word (4 bytes) from external sensor data registers.
| position | Starting position (0-20) |
| uint16_t getExternalSensorWord | ( | int | position | ) |
Read word (2 bytes) from external sensor data registers.
| position | Starting position (0-21) |
| bool getExternalShadowDelayEnabled | ( | ) |
Get external data shadow delay enabled status. This register is used to specify the timing of external sensor data shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external sensor data is delayed until all data has been received.
| uint8_t getFIFOByte | ( | ) |
Get byte from FIFO buffer. This register is used to read and write data from the FIFO buffer. Data is written to the FIFO in order of register number (from lowest to highest). If all the FIFO enable flags (see below) are enabled and all External Sensor Data registers (Registers 73 to 96) are associated with a Slave device, the contents of registers 59 through 96 will be written in order at the Sample Rate.
The contents of the sensor data registers (Registers 59 to 96) are written into the FIFO buffer when their corresponding FIFO enable flags are set to 1 in FIFO_EN (Register 35). An additional flag for the sensor data registers associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is automatically set to 1. This bit is located in INT_STATUS (Register 58). When the FIFO buffer has overflowed, the oldest data will be lost and new data will be written to the FIFO.
If the FIFO buffer is empty, reading this register will return the last byte that was previously read from the FIFO until new data is available. The user should check FIFO_COUNT to ensure that the FIFO buffer is not read when empty.
| uint16_t getFIFOCount | ( | ) |
Get current FIFO buffer size. This value indicates the number of bytes stored in the FIFO buffer. This number is in turn the number of bytes that can be read from the FIFO buffer and it is directly proportional to the number of samples available given the set of sensor data bound to be stored in the FIFO (register 35 and 36).
| bool getFIFOEnabled | ( | ) |
Get FIFO enabled status. When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer cannot be written to or read from while disabled. The FIFO buffer's state does not change unless the MPU-60X0 is power cycled.
| uint8_t getFreefallDetectionCounterDecrement | ( | ) |
Get Free Fall detection counter decrement configuration. Detection is registered by the Free Fall detection module after accelerometer measurements meet their respective threshold conditions over a specified number of samples. When the threshold conditions are met, the corresponding detection counter increments by 1. The user may control the rate at which the detection counter decrements when the threshold condition is not met by configuring FF_COUNT. The decrement rate can be set according to the following table:
FF_COUNT | Counter Decrement ---------+------------------ 0 | Reset 1 | 1 2 | 2 3 | 4
When FF_COUNT is configured to 0 (reset), any non-qualifying sample will reset the counter to 0. For further information on Free Fall detection, please refer to Registers 29 to 32.
| uint8_t getFreefallDetectionDuration | ( | ) |
Get free-fall event duration threshold. This register configures the duration counter threshold for Free Fall event detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit of 1 LSB = 1 ms.
The Free Fall duration counter increments while the absolute value of the accelerometer measurements are each less than the detection threshold (Register 29). The Free Fall interrupt is triggered when the Free Fall duration counter reaches the time specified in this register.
For more details on the Free Fall detection interrupt, see Section 8.2 of the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and 58 of this document.
| uint8_t getFreefallDetectionThreshold | ( | ) |
Get free-fall event acceleration threshold. This register configures the detection threshold for Free Fall event detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the absolute value of the accelerometer measurements for the three axes are each less than the detection threshold. This condition increments the Free Fall duration counter (Register 30). The Free Fall interrupt is triggered when the Free Fall duration counter reaches the time specified in FF_DUR.
For more details on the Free Fall detection interrupt, see Section 8.2 of the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and 58 of this document.
| bool getFSyncInterruptEnabled | ( | ) |
Get FSYNC pin interrupt enabled setting. Will be set 0 for disabled, 1 for enabled.
| bool getFSyncInterruptLevel | ( | ) |
Get FSYNC interrupt logic level mode.
| uint8_t getFullScaleAccelRange | ( | ) |
Get full-scale accelerometer range. The FS_SEL parameter allows setting the full-scale range of the accelerometer sensors, as described in the table below.
0 = +/- 2g 1 = +/- 4g 2 = +/- 8g 3 = +/- 16g
| uint8_t getFullScaleGyroRange | ( | ) |
Get full-scale gyroscope range. The FS_SEL parameter allows setting the full-scale range of the gyro sensors, as described in the table below.
0 = +/- 250 degrees/sec 1 = +/- 500 degrees/sec 2 = +/- 1000 degrees/sec 3 = +/- 2000 degrees/sec
| uint8_t getGyroXSelfTestFactoryTrim | ( | ) |
Get self-test factory trim value for gyro X axis.
| uint8_t getGyroYSelfTestFactoryTrim | ( | ) |
Get self-test factory trim value for gyro Y axis.
| uint8_t getGyroZSelfTestFactoryTrim | ( | ) |
Get self-test factory trim value for gyro Z axis.
| bool getI2CBypassEnabled | ( | ) |
Get I2C bypass enabled status. When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to 0, the host application processor will be able to directly access the auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host application processor will not be able to directly access the auxiliary I2C bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106 bit[5]).
| bool getI2CMasterModeEnabled | ( | ) |
Get I2C Master Mode enabled status. When this mode is enabled, the MPU-60X0 acts as the I2C Master to the external sensor slave devices on the auxiliary I2C bus. When this bit is cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically driven by the primary I2C bus (SDA and SCL). This is a precondition to enabling Bypass Mode. For further information regarding Bypass Mode, please refer to Register 55.
| bool getIntDataReadyEnabled | ( | ) |
Get Data Ready interrupt enabled setting. This event occurs each time a write operation to all of the sensor registers has been completed. Will be set 0 for disabled, 1 for enabled.
| bool getIntDataReadyStatus | ( | ) |
Get Data Ready interrupt status. This bit automatically sets to 1 when a Data Ready interrupt has been generated. The bit clears to 0 after the register has been read.
| uint8_t getIntEnabled | ( | ) |
Get full interrupt enabled status. Full register byte for all interrupts, for quick reading. Each bit will be set 0 for disabled, 1 for enabled.
| bool getInterruptDrive | ( | ) |
Get interrupt drive mode. Will be set 0 for push-pull, 1 for open-drain.
| bool getInterruptLatch | ( | ) |
Get interrupt latch mode. Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
| bool getInterruptLatchClear | ( | ) |
Get interrupt latch clear mode. Will be set 0 for status-read-only, 1 for any-register-read.
| bool getInterruptMode | ( | ) |
Get interrupt logic level mode. Will be set 0 for active-high, 1 for active-low.
| bool getIntFIFOBufferOverflowEnabled | ( | ) |
Get FIFO Buffer Overflow interrupt enabled status. Will be set 0 for disabled, 1 for enabled.
| bool getIntFIFOBufferOverflowStatus | ( | ) |
Get FIFO Buffer Overflow interrupt status. This bit automatically sets to 1 when a Free Fall interrupt has been generated. The bit clears to 0 after the register has been read.
| bool getIntFreefallEnabled | ( | ) |
Get Free Fall interrupt enabled status. Will be set 0 for disabled, 1 for enabled.
| bool getIntFreefallStatus | ( | ) |
Get Free Fall interrupt status. This bit automatically sets to 1 when a Free Fall interrupt has been generated. The bit clears to 0 after the register has been read.
| bool getIntI2CMasterEnabled | ( | ) |
Get I2C Master interrupt enabled status. This enables any of the I2C Master interrupt sources to generate an interrupt. Will be set 0 for disabled, 1 for enabled.
| bool getIntI2CMasterStatus | ( | ) |
Get I2C Master interrupt status. This bit automatically sets to 1 when an I2C Master interrupt has been generated. For a list of I2C Master interrupts, please refer to Register 54. The bit clears to 0 after the register has been read.
| bool getIntMotionEnabled | ( | ) |
Get Motion Detection interrupt enabled status. Will be set 0 for disabled, 1 for enabled.
| bool getIntMotionStatus | ( | ) |
Get Motion Detection interrupt status. This bit automatically sets to 1 when a Motion Detection interrupt has been generated. The bit clears to 0 after the register has been read.
| uint8_t getIntStatus | ( | ) |
Get full set of interrupt status bits. These bits clear to 0 after the register has been read. Very useful for getting multiple INT statuses, since each single bit read clears all of them because it has to read the whole byte.
| bool getIntZeroMotionEnabled | ( | ) |
Get Zero Motion Detection interrupt enabled status. Will be set 0 for disabled, 1 for enabled.
| bool getIntZeroMotionStatus | ( | ) |
Get Zero Motion Detection interrupt status. This bit automatically sets to 1 when a Zero Motion Detection interrupt has been generated. The bit clears to 0 after the register has been read.
| bool getLostArbitration | ( | ) |
Get master arbitration lost status. This bit automatically sets to 1 when the I2C Master has lost arbitration of the auxiliary I2C bus (an error condition). This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
| uint8_t getMasterClockSpeed | ( | ) |
Get I2C master clock speed. I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to the following table:
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
| void getMotion6 | ( | int16_t * | ax, |
| int16_t * | ay, | ||
| int16_t * | az, | ||
| int16_t * | gx, | ||
| int16_t * | gy, | ||
| int16_t * | gz | ||
| ) |
Get raw 6-axis motion sensor readings (accel/gyro). Retrieves all currently available motion sensor values.
| ax | 16-bit signed integer container for accelerometer X-axis value |
| ay | 16-bit signed integer container for accelerometer Y-axis value |
| az | 16-bit signed integer container for accelerometer Z-axis value |
| gx | 16-bit signed integer container for gyroscope X-axis value |
| gy | 16-bit signed integer container for gyroscope Y-axis value |
| gz | 16-bit signed integer container for gyroscope Z-axis value |
| void getMotion9 | ( | int16_t * | ax, |
| int16_t * | ay, | ||
| int16_t * | az, | ||
| int16_t * | gx, | ||
| int16_t * | gy, | ||
| int16_t * | gz, | ||
| int16_t * | mx, | ||
| int16_t * | my, | ||
| int16_t * | mz | ||
| ) |
Get raw 9-axis motion sensor readings (accel/gyro/compass). FUNCTION NOT FULLY IMPLEMENTED YET.
| ax | 16-bit signed integer container for accelerometer X-axis value |
| ay | 16-bit signed integer container for accelerometer Y-axis value |
| az | 16-bit signed integer container for accelerometer Z-axis value |
| gx | 16-bit signed integer container for gyroscope X-axis value |
| gy | 16-bit signed integer container for gyroscope Y-axis value |
| gz | 16-bit signed integer container for gyroscope Z-axis value |
| mx | 16-bit signed integer container for magnetometer X-axis value |
| my | 16-bit signed integer container for magnetometer Y-axis value |
| mz | 16-bit signed integer container for magnetometer Z-axis value |
| uint8_t getMotionDetectionCounterDecrement | ( | ) |
Get Motion detection counter decrement configuration. Detection is registered by the Motion detection module after accelerometer measurements meet their respective threshold conditions over a specified number of samples. When the threshold conditions are met, the corresponding detection counter increments by 1. The user may control the rate at which the detection counter decrements when the threshold condition is not met by configuring MOT_COUNT. The decrement rate can be set according to the following table:
MOT_COUNT | Counter Decrement ----------+------------------ 0 | Reset 1 | 1 2 | 2 3 | 4
When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will reset the counter to 0. For further information on Motion detection, please refer to Registers 29 to 32.
| uint8_t getMotionDetectionDuration | ( | ) |
Get motion detection event duration threshold. This register configures the duration counter threshold for Motion interrupt generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit of 1LSB = 1ms. The Motion detection duration counter increments when the absolute value of any of the accelerometer measurements exceeds the Motion detection threshold (Register 31). The Motion detection interrupt is triggered when the Motion detection counter reaches the time count specified in this register.
For more details on the Motion detection interrupt, see Section 8.3 of the MPU-6000/MPU-6050 Product Specification document.
| uint8_t getMotionDetectionThreshold | ( | ) |
Get motion detection event acceleration threshold. This register configures the detection threshold for Motion interrupt generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the absolute value of any of the accelerometer measurements exceeds this Motion detection threshold. This condition increments the Motion detection duration counter (Register 32). The Motion detection interrupt is triggered when the Motion Detection counter reaches the time count specified in MOT_DUR (Register 32).
The Motion interrupt will indicate the axis and polarity of detected motion in MOT_DETECT_STATUS (Register 97).
For more details on the Motion detection interrupt, see Section 8.3 of the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and 58 of this document.
| uint8_t getMotionStatus | ( | ) |
Get full motion detection status register content (all bits).
| bool getMultiMasterEnabled | ( | ) |
Get multi-master enabled value. Multi-master capability allows multiple I2C masters to operate on the same bus. In circuits where multi-master capability is required, set MULT_MST_EN to 1. This will increase current drawn by approximately 30uA.
In circuits where multi-master capability is required, the state of the I2C bus must always be monitored by each separate I2C Master. Before an I2C Master can assume arbitration of the bus, it must first confirm that no other I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the MPU-60X0's bus arbitration detection logic is turned on, enabling it to detect when the bus is available.
| bool getPassthroughStatus | ( | ) |
Get FSYNC interrupt status. This bit reflects the status of the FSYNC interrupt from an external device into the MPU-60X0. This is used as a way to pass an external interrupt through the MPU-60X0 to the host application processor. When set to 1, this bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG (Register 55).
| uint8_t getRate | ( | ) |
Get gyroscope output rate divider. The sensor register output, FIFO output, DMP sampling, Motion detection, Zero Motion detection, and Free Fall detection are all based on the Sample Rate. The Sample Rate is generated by dividing the gyroscope output rate by SMPLRT_DIV:
Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or 7), and 1kHz when the DLPF is enabled (see Register 26).
Note: The accelerometer output rate is 1kHz. This means that for a Sample Rate greater than 1kHz, the same accelerometer sample may be output to the FIFO, DMP, and sensor registers more than once.
For a diagram of the gyroscope and accelerometer signal paths, see Section 8 of the MPU-6000/MPU-6050 Product Specification document.
| void getRotation | ( | int16_t * | x, |
| int16_t * | y, | ||
| int16_t * | z | ||
| ) |
Get 3-axis gyroscope readings. These gyroscope measurement registers, along with the accelerometer measurement registers, temperature measurement registers, and external sensor data registers, are composed of two sets of registers: an internal register set and a user-facing read register set. The data within the gyroscope sensors' internal register set is always updated at the Sample Rate. Meanwhile, the user-facing read register set duplicates the internal register set's data values whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read measurements from the same sampling instant. Note that if burst reads are not used, the user is responsible for ensuring a set of single byte reads correspond to a single sampling instant by checking the Data Ready interrupt.
Each 16-bit gyroscope measurement has a full scale defined in FS_SEL (Register 27). For each full scale setting, the gyroscopes' sensitivity per LSB in GYRO_xOUT is shown in the table below:
FS_SEL | Full Scale Range | LSB Sensitivity -------+--------------------+---------------- 0 | +/- 250 degrees/s | 131 LSB/deg/s 1 | +/- 500 degrees/s | 65.5 LSB/deg/s 2 | +/- 1000 degrees/s | 32.8 LSB/deg/s 3 | +/- 2000 degrees/s | 16.4 LSB/deg/s
| x | 16-bit signed integer container for X-axis rotation |
| y | 16-bit signed integer container for Y-axis rotation |
| z | 16-bit signed integer container for Z-axis rotation |
| int16_t getRotationX | ( | ) |
Get X-axis gyroscope reading.
| int16_t getRotationY | ( | ) |
Get Y-axis gyroscope reading.
| int16_t getRotationZ | ( | ) |
Get Z-axis gyroscope reading.
| uint8_t getSlate4InputByte | ( | ) |
Get last available byte read from Slave 4. This register stores the data read from Slave 4. This field is populated after a read transaction.
| bool getSlave0FIFOEnabled | ( | ) |
Get Slave 0 FIFO enabled value. When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) associated with Slave 0 to be written into the FIFO buffer.
| bool getSlave0Nack | ( | ) |
Get Slave 0 NACK status. This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
| bool getSlave1FIFOEnabled | ( | ) |
Get Slave 1 FIFO enabled value. When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) associated with Slave 1 to be written into the FIFO buffer.
| bool getSlave1Nack | ( | ) |
Get Slave 1 NACK status. This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
| bool getSlave2FIFOEnabled | ( | ) |
Get Slave 2 FIFO enabled value. When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) associated with Slave 2 to be written into the FIFO buffer.
| bool getSlave2Nack | ( | ) |
Get Slave 2 NACK status. This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
| bool getSlave3FIFOEnabled | ( | ) |
Get Slave 3 FIFO enabled value. When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) associated with Slave 3 to be written into the FIFO buffer.
| bool getSlave3Nack | ( | ) |
Get Slave 3 NACK status. This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
| uint8_t getSlave4Address | ( | ) |
Get the I2C address of Slave 4. Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read operation, and if it is cleared, then it's a write operation. The remaining bits (6-0) are the 7-bit device address of the slave device.
| bool getSlave4Enabled | ( | ) |
Get the enabled value for the Slave 4. When set to 1, this bit enables Slave 4 for data transfer operations. When cleared to 0, this bit disables Slave 4 from data transfer operations.
| bool getSlave4InterruptEnabled | ( | ) |
Get the enabled value for Slave 4 transaction interrupts. When set to 1, this bit enables the generation of an interrupt signal upon completion of a Slave 4 transaction. When cleared to 0, this bit disables the generation of an interrupt signal upon completion of a Slave 4 transaction. The interrupt status can be observed in Register 54.
| bool getSlave4IsDone | ( | ) |
Get Slave 4 transaction done status. Automatically sets to 1 when a Slave 4 transaction has completed. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the I2C_SLV4_CTRL register (Register 52).
| uint8_t getSlave4MasterDelay | ( | ) |
Get Slave 4 master delay value. This configures the reduced access rate of I2C slaves relative to the Sample Rate. When a slave's access rate is decreased relative to the Sample Rate, the slave is accessed every:
1 / (1 + I2C_MST_DLY) samples
This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For further information regarding the Sample Rate, please refer to register 25.
| bool getSlave4Nack | ( | ) |
Get Slave 4 NACK status. This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
| uint8_t getSlave4Register | ( | ) |
Get the active internal register for the Slave 4. Read/write operations for this slave will be done to whatever internal register address is stored in this MPU register.
| bool getSlave4WriteMode | ( | ) |
Get write mode for Slave 4. When set to 1, the transaction will read or write data only. When cleared to 0, the transaction will write a register address prior to reading or writing data. This should equal 0 when specifying the register address within the Slave device to/from which the ensuing data transaction will take place.
| uint8_t getSlaveAddress | ( | uint8_t | num | ) |
Get the I2C address of the specified slave (0-3). Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read operation, and if it is cleared, then it's a write operation. The remaining bits (6-0) are the 7-bit device address of the slave device.
In read mode, the result of the read is placed in the lowest available EXT_SENS_DATA register. For further information regarding the allocation of read results, please refer to the EXT_SENS_DATA register description (Registers 73 - 96).
The MPU-6050 supports a total of five slaves, but Slave 4 has unique characteristics, and so it has its own functions (getSlave4* and setSlave4*).
I2C data transactions are performed at the Sample Rate, as defined in Register 25. The user is responsible for ensuring that I2C data transactions to and from each enabled Slave can be completed within a single period of the Sample Rate.
The I2C slave access rate can be reduced relative to the Sample Rate. This reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a slave's access rate is reduced relative to the Sample Rate is determined by I2C_MST_DELAY_CTRL (Register 103).
The processing order for the slaves is fixed. The sequence followed for processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a particular Slave is disabled it will be skipped.
Each slave can either be accessed at the sample rate or at a reduced sample rate. In a case where some slaves are accessed at the Sample Rate and some slaves are accessed at the reduced rate, the sequence of accessing the slaves (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will be skipped if their access rate dictates that they should not be accessed during that particular cycle. For further information regarding the reduced access rate, please refer to Register 52. Whether a slave is accessed at the Sample Rate or at the reduced rate is determined by the Delay Enable bits in Register 103.
| num | Slave number (0-3) |
| uint8_t getSlaveDataLength | ( | uint8_t | num | ) |
Get number of bytes to read for the specified slave (0-3). Specifies the number of bytes transferred to and from Slave 0. Clearing this bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
| num | Slave number (0-3) |
| bool getSlaveDelayEnabled | ( | uint8_t | num | ) |
Get slave delay enabled status. When a particular slave delay is enabled, the rate of access for the that slave device is reduced. When a slave's access rate is decreased relative to the Sample Rate, the slave is accessed every:
1 / (1 + I2C_MST_DLY) Samples
This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25) and DLPF_CFG (register 26).
For further information regarding I2C_MST_DLY, please refer to register 52. For further information regarding the Sample Rate, please refer to register 25.
| num | Slave number (0-4) |
| bool getSlaveEnabled | ( | uint8_t | num | ) |
Get the enabled value for the specified slave (0-3). When set to 1, this bit enables Slave 0 for data transfer operations. When cleared to 0, this bit disables Slave 0 from data transfer operations.
| num | Slave number (0-3) |
| bool getSlaveReadWriteTransitionEnabled | ( | ) |
Get slave read/write transition enabled value. The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave read to the next slave read. If the bit equals 0, there will be a restart between reads. If the bit equals 1, there will be a stop followed by a start of the following read. When a write transaction follows a read transaction, the stop followed by a start of the successive write will be always used.
| uint8_t getSlaveRegister | ( | uint8_t | num | ) |
Get the active internal register for the specified slave (0-3). Read/write operations for this slave will be done to whatever internal register address is stored in this MPU register.
The MPU-6050 supports a total of five slaves, but Slave 4 has unique characteristics, and so it has its own functions.
| num | Slave number (0-3) |
| bool getSlaveWordByteSwap | ( | uint8_t | num | ) |
Get word pair byte-swapping enabled for the specified slave (0-3). When set to 1, this bit enables byte swapping. When byte swapping is enabled, the high and low bytes of a word pair are swapped. Please refer to I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0, bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA registers in the order they were transferred.
| num | Slave number (0-3) |
| bool getSlaveWordGroupOffset | ( | uint8_t | num | ) |
Get word pair grouping order offset for the specified slave (0-3). This sets specifies the grouping order of word pairs received from registers. When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even, then odd register addresses) are paired to form a word. When set to 1, bytes from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even register addresses) are paired to form a word.
| num | Slave number (0-3) |
| bool getSlaveWriteMode | ( | uint8_t | num | ) |
Get write mode for the specified slave (0-3). When set to 1, the transaction will read or write data only. When cleared to 0, the transaction will write a register address prior to reading or writing data. This should equal 0 when specifying the register address within the Slave device to/from which the ensuing data transaction will take place.
| num | Slave number (0-3) |
| bool getSleepEnabled | ( | ) |
Get sleep mode status. Setting the SLEEP bit in the register puts the device into very low power sleep mode. In this mode, only the serial interface and internal registers remain active, allowing for a very low standby current. Clearing this bit puts the device back into normal mode. To save power, the individual standby selections for each of the gyros should be used if any gyro axis is not used by the application.
| bool getStandbyXAccelEnabled | ( | ) |
Get X-axis accelerometer standby enabled status. If enabled, the X-axis will not gather or report data (or use power).
| bool getStandbyXGyroEnabled | ( | ) |
Get X-axis gyroscope standby enabled status. If enabled, the X-axis will not gather or report data (or use power).
| bool getStandbyYAccelEnabled | ( | ) |
Get Y-axis accelerometer standby enabled status. If enabled, the Y-axis will not gather or report data (or use power).
| bool getStandbyYGyroEnabled | ( | ) |
Get Y-axis gyroscope standby enabled status. If enabled, the Y-axis will not gather or report data (or use power).
| bool getStandbyZAccelEnabled | ( | ) |
Get Z-axis accelerometer standby enabled status. If enabled, the Z-axis will not gather or report data (or use power).
| bool getStandbyZGyroEnabled | ( | ) |
Get Z-axis gyroscope standby enabled status. If enabled, the Z-axis will not gather or report data (or use power).
| int16_t getTemperature | ( | ) |
Get current internal temperature.
| bool getTempFIFOEnabled | ( | ) |
Get temperature FIFO enabled value. When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and 66) to be written into the FIFO buffer.
| bool getTempSensorEnabled | ( | ) |
Get temperature sensor enabled status. Control the usage of the internal temperature sensor.
Note: this register stores the disabled value, but for consistency with the rest of the code, the function is named and used with standard true/false values to indicate whether the sensor is enabled or disabled, respectively.
| bool getWaitForExternalSensorEnabled | ( | ) |
Get wait-for-external-sensor-data enabled value. When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be delayed until External Sensor data from the Slave Devices are loaded into the EXT_SENS_DATA registers. This is used to ensure that both the internal sensor data (i.e. from gyro and accel) and external sensor data have been loaded to their respective data registers (i.e. the data is synced) when the Data Ready interrupt is triggered.
| bool getWakeCycleEnabled | ( | ) |
Get wake cycle enabled status. When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle between sleep mode and waking up to take a single sample of data from active sensors at a rate determined by LP_WAKE_CTRL (register 108).
| uint8_t getWakeFrequency | ( | ) |
Get wake frequency in Accel-Only Low Power Mode. The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode, the device will power off all devices except for the primary I2C interface, waking only the accelerometer at fixed intervals to take a single measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL as shown below:
LP_WAKE_CTRL | Wake-up Frequency -------------+------------------ 0 | 1.25 Hz 1 | 2.5 Hz 2 | 5 Hz 3 | 10 Hz
For further information regarding the MPU-60X0's power modes, please refer to Register 107.
| bool getXGyroFIFOEnabled | ( | ) |
Get gyroscope X-axis FIFO enabled value. When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and 68) to be written into the FIFO buffer.
| bool getXNegMotionDetected | ( | ) |
Get X-axis negative motion detection interrupt status.
| bool getXPosMotionDetected | ( | ) |
Get X-axis positive motion detection interrupt status.
| bool getYGyroFIFOEnabled | ( | ) |
Get gyroscope Y-axis FIFO enabled value. When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and 70) to be written into the FIFO buffer.
| bool getYNegMotionDetected | ( | ) |
Get Y-axis negative motion detection interrupt status.
| bool getYPosMotionDetected | ( | ) |
Get Y-axis positive motion detection interrupt status.
| bool getZeroMotionDetected | ( | ) |
Get zero motion detection interrupt status.
| uint8_t getZeroMotionDetectionDuration | ( | ) |
Get zero motion detection event duration threshold. This register configures the duration counter threshold for Zero Motion interrupt generation. The duration counter ticks at 16 Hz, therefore ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter increments while the absolute value of the accelerometer measurements are each less than the detection threshold (Register 33). The Zero Motion interrupt is triggered when the Zero Motion duration counter reaches the time count specified in this register.
For more details on the Zero Motion detection interrupt, see Section 8.4 of the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56 and 58 of this document.
| uint8_t getZeroMotionDetectionThreshold | ( | ) |
Get zero motion detection event acceleration threshold. This register configures the detection threshold for Zero Motion interrupt generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when the absolute value of the accelerometer measurements for the 3 axes are each less than the detection threshold. This condition increments the Zero Motion duration counter (Register 34). The Zero Motion interrupt is triggered when the Zero Motion duration counter reaches the time count specified in ZRMOT_DUR (Register 34).
Unlike Free Fall or Motion detection, Zero Motion detection triggers an interrupt both when Zero Motion is first detected and when Zero Motion is no longer detected.
When a zero motion event is detected, a Zero Motion Status will be indicated in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion condition is detected, the status bit is set to 1. When a zero-motion-to- motion condition is detected, the status bit is set to 0.
For more details on the Zero Motion detection interrupt, see Section 8.4 of the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and 58 of this document.
| bool getZGyroFIFOEnabled | ( | ) |
Get gyroscope Z-axis FIFO enabled value. When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and 72) to be written into the FIFO buffer.
| bool getZNegMotionDetected | ( | ) |
Get Z-axis negative motion detection interrupt status.
| bool getZPosMotionDetected | ( | ) |
Get Z-axis positive motion detection interrupt status.
| void initialize | ( | ) |
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 reset | ( | ) |
Trigger a full device reset. A small delay of ~50ms may be desirable after triggering a reset.
| void resetAccelerometerPath | ( | ) |
Reset accelerometer signal path. The reset will revert the signal path analog to digital converters and filters to their power up configurations.
| void resetFIFO | ( | ) |
Reset the FIFO. This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This bit automatically clears to 0 after the reset has been triggered.
| void resetGyroscopePath | ( | ) |
Reset gyroscope signal path. The reset will revert the signal path analog to digital converters and filters to their power up configurations.
| void resetI2CMaster | ( | ) |
Reset the I2C Master. This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0. This bit automatically clears to 0 after the reset has been triggered.
| void resetSensors | ( | ) |
Reset all sensor registers and signal paths. When set to 1, this bit resets the signal paths for all sensors (gyroscopes, accelerometers, and temperature sensor). This operation will also clear the sensor registers. This bit automatically clears to 0 after the reset has been triggered.
When resetting only the signal path (and not the sensor registers), please use Register 104, SIGNAL_PATH_RESET.
| void resetTemperaturePath | ( | ) |
Reset temperature sensor signal path. The reset will revert the signal path analog to digital converters and filters to their power up configurations.
| void setAccelerometerPowerOnDelay | ( | uint8_t | delay | ) |
Set accelerometer power-on delay.
| delay | New accelerometer power-on delay (0-3) |
| void setAccelFIFOEnabled | ( | bool | enabled | ) |
Set accelerometer FIFO enabled value.
| enabled | New accelerometer FIFO enabled value |
| void setAccelXSelfTest | ( | bool | enabled | ) |
Get self-test enabled setting for accelerometer X axis.
| enabled | Self-test enabled value |
| void setAccelYSelfTest | ( | bool | enabled | ) |
Get self-test enabled value for accelerometer Y axis.
| enabled | Self-test enabled value |
| void setAccelZSelfTest | ( | bool | enabled | ) |
Set self-test enabled value for accelerometer Z axis.
| enabled | Self-test enabled value |
| void setAuxVDDIOLevel | ( | uint8_t | level | ) |
Set the auxiliary I2C supply voltage level. When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to the MPU-6000, which does not have a VLOGIC pin.
| level | I2C supply voltage level (0=VLOGIC, 1=VDD) |
| void setClockOutputEnabled | ( | bool | enabled | ) |
Set reference clock output enabled status. When this bit is equal to 1, a reference clock output is provided at the CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For further information regarding CLKOUT, please refer to the MPU-60X0 Product Specification document.
| enabled | New reference clock output enabled status |
| void setClockSource | ( | uint8_t | source | ) |
Set clock source setting. An internal 8MHz oscillator, gyroscope based clock, or external sources can be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator or an external source is chosen as the clock source, the MPU-60X0 can operate in low power modes with the gyroscopes disabled.
Upon power up, the MPU-60X0 clock source defaults to the internal oscillator. However, it is highly recommended that the device be configured to use one of the gyroscopes (or an external clock source) as the clock reference for improved stability. The clock source can be selected according to the following table:
CLK_SEL | Clock Source --------+-------------------------------------- 0 | Internal oscillator 1 | PLL with X Gyro reference 2 | PLL with Y Gyro reference 3 | PLL with Z Gyro reference 4 | PLL with external 32.768kHz reference 5 | PLL with external 19.2MHz reference 6 | Reserved 7 | Stops the clock and keeps the timing generator in reset
| source | New clock source setting |
| void setDeviceID | ( | uint8_t | id | ) |
Set Device ID. Write a new ID into the WHO_AM_I register (no idea why this should ever be necessary though).
| id | New device ID to set. |
| void setDHPFMode | ( | uint8_t | bandwidth | ) |
Set the high-pass filter configuration.
| bandwidth | New high-pass filter configuration |
| void setDLPFMode | ( | uint8_t | mode | ) |
Set digital low-pass filter configuration.
| mode | New DLFP configuration setting |
| void setExternalFrameSync | ( | uint8_t | sync | ) |
Set external FSYNC configuration.
| sync | New FSYNC configuration value |
| void setExternalShadowDelayEnabled | ( | bool | enabled | ) |
Set external data shadow delay enabled status.
| enabled | New external data shadow delay enabled status. |
| void setFIFOByte | ( | uint8_t | data | ) |
Write byte to FIFO buffer.
| void setFIFOEnabled | ( | bool | enabled | ) |
Set FIFO enabled status.
| enabled | New FIFO enabled status |
| void setFreefallDetectionCounterDecrement | ( | uint8_t | decrement | ) |
Set Free Fall detection counter decrement configuration.
| decrement | New decrement configuration value |
| void setFreefallDetectionDuration | ( | uint8_t | duration | ) |
Get free-fall event duration threshold.
| duration | New free-fall duration threshold value (LSB = 1ms) |
| void setFreefallDetectionThreshold | ( | uint8_t | threshold | ) |
Get free-fall event acceleration threshold.
| threshold | New free-fall acceleration threshold value (LSB = 2mg) |
| void setFSyncInterruptEnabled | ( | bool | enabled | ) |
Set FSYNC pin interrupt enabled setting.
| enabled | New FSYNC pin interrupt enabled setting |
| void setFSyncInterruptLevel | ( | bool | level | ) |
Set FSYNC interrupt logic level mode.
| mode | New FSYNC interrupt mode (0=active-high, 1=active-low) |
| void setFullScaleAccelRange | ( | uint8_t | range | ) |
Set full-scale accelerometer range.
| range | New full-scale accelerometer range setting |
| void setFullScaleGyroRange | ( | uint8_t | range | ) |
Set full-scale gyroscope range.
| range | New full-scale gyroscope range value |
| void setI2CBypassEnabled | ( | bool | enabled | ) |
Set I2C bypass enabled status. When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to 0, the host application processor will be able to directly access the auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host application processor will not be able to directly access the auxiliary I2C bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106 bit[5]).
| enabled | New I2C bypass enabled status |
| void setI2CMasterModeEnabled | ( | bool | enabled | ) |
Set I2C Master Mode enabled status.
| enabled | New I2C Master Mode enabled status |
| void setIntDataReadyEnabled | ( | bool | enabled | ) |
Set Data Ready interrupt enabled status.
| enabled | New interrupt enabled status |
| void setIntEnabled | ( | uint8_t | enabled | ) |
Set full interrupt enabled status. Full register byte for all interrupts, for quick reading. Each bit should be set 0 for disabled, 1 for enabled.
| enabled | New interrupt enabled status |
| void setInterruptDrive | ( | bool | drive | ) |
Set interrupt drive mode.
| drive | New interrupt drive mode (0=push-pull, 1=open-drain) |
| void setInterruptLatch | ( | bool | latch | ) |
Set interrupt latch mode.
| latch | New latch mode (0=50us-pulse, 1=latch-until-int-cleared) |
| void setInterruptLatchClear | ( | bool | clear | ) |
Set interrupt latch clear mode.
| clear | New latch clear mode (0=status-read-only, 1=any-register-read) |
| void setInterruptMode | ( | bool | mode | ) |
Set interrupt logic level mode.
| mode | New interrupt mode (0=active-high, 1=active-low) |
| void setIntFIFOBufferOverflowEnabled | ( | bool | enabled | ) |
Set FIFO Buffer Overflow interrupt enabled status.
| enabled | New interrupt enabled status |
| void setIntFreefallEnabled | ( | bool | enabled | ) |
Set Free Fall interrupt enabled status.
| enabled | New interrupt enabled status |
| void setIntI2CMasterEnabled | ( | bool | enabled | ) |
Set I2C Master interrupt enabled status.
| enabled | New interrupt enabled status |
| void setIntMotionEnabled | ( | bool | enabled | ) |
Set Motion Detection interrupt enabled status.
| enabled | New interrupt enabled status |
| void setIntZeroMotionEnabled | ( | bool | enabled | ) |
Set Zero Motion Detection interrupt enabled status.
| enabled | New interrupt enabled status |
| void setMasterClockSpeed | ( | uint8_t | speed | ) |
Set I2C master clock speed. @reparam speed Current I2C master clock speed
| void setMotionDetectionCounterDecrement | ( | uint8_t | decrement | ) |
Set Motion detection counter decrement configuration.
| decrement | New decrement configuration value |
| void setMotionDetectionDuration | ( | uint8_t | duration | ) |
Set motion detection event duration threshold.
| duration | New motion detection duration threshold value (LSB = 1ms) |
| void setMotionDetectionThreshold | ( | uint8_t | threshold | ) |
Set motion detection event acceleration threshold.
| threshold | New motion detection acceleration threshold value (LSB = 2mg) |
| void setMultiMasterEnabled | ( | bool | enabled | ) |
Set multi-master enabled value.
| enabled | New multi-master enabled value |
| void setRate | ( | uint8_t | rate | ) |
Set gyroscope sample rate divider.
| rate | New sample rate divider |
| void setSlave0FIFOEnabled | ( | bool | enabled | ) |
Set Slave 0 FIFO enabled value.
| enabled | New Slave 0 FIFO enabled value |
| void setSlave1FIFOEnabled | ( | bool | enabled | ) |
Set Slave 1 FIFO enabled value.
| enabled | New Slave 1 FIFO enabled value |
| void setSlave2FIFOEnabled | ( | bool | enabled | ) |
Set Slave 2 FIFO enabled value.
| enabled | New Slave 2 FIFO enabled value |
| void setSlave3FIFOEnabled | ( | bool | enabled | ) |
Set Slave 3 FIFO enabled value.
| enabled | New Slave 3 FIFO enabled value |
| void setSlave4Address | ( | uint8_t | address | ) |
Set the I2C address of Slave 4.
| address | New address for Slave 4 |
| void setSlave4Enabled | ( | bool | enabled | ) |
Set the enabled value for Slave 4.
| enabled | New enabled value for Slave 4 |
| void setSlave4InterruptEnabled | ( | bool | enabled | ) |
Set the enabled value for Slave 4 transaction interrupts.
| enabled | New enabled value for Slave 4 transaction interrupts. |
| void setSlave4MasterDelay | ( | uint8_t | delay | ) |
Set Slave 4 master delay value.
| delay | New Slave 4 master delay value |
| void setSlave4OutputByte | ( | uint8_t | data | ) |
Set new byte to write to Slave 4. This register stores the data to be written into the Slave 4. If I2C_SLV4_RW is set 1 (set to read), this register has no effect.
| data | New byte to write to Slave 4 |
| void setSlave4Register | ( | uint8_t | reg | ) |
Set the active internal register for Slave 4.
| reg | New active register for Slave 4 |
| void setSlave4WriteMode | ( | bool | mode | ) |
Set write mode for the Slave 4.
| mode | New write mode for Slave 4 (0 = register address + data, 1 = data only) |
| void setSlaveAddress | ( | uint8_t | num, |
| uint8_t | address | ||
| ) |
Set the I2C address of the specified slave (0-3).
| num | Slave number (0-3) |
| address | New address for specified slave |
| void setSlaveDataLength | ( | uint8_t | num, |
| uint8_t | length | ||
| ) |
Set number of bytes to read for the specified slave (0-3).
| num | Slave number (0-3) |
| length | Number of bytes to read for specified slave |
| void setSlaveDelayEnabled | ( | uint8_t | num, |
| bool | enabled | ||
| ) |
Set slave delay enabled status.
| num | Slave number (0-4) |
| enabled | New slave delay enabled status. |
| void setSlaveEnabled | ( | uint8_t | num, |
| bool | enabled | ||
| ) |
Set the enabled value for the specified slave (0-3).
| num | Slave number (0-3) |
| enabled | New enabled value for specified slave |
| void setSlaveOutputByte | ( | uint8_t | num, |
| uint8_t | data | ||
| ) |
Write byte to Data Output container for specified slave. This register holds the output data written into Slave when Slave is set to write mode. For further information regarding Slave control, please refer to Registers 37 to 39 and immediately following.
| num | Slave number (0-3) |
| data | Byte to write |
| void setSlaveReadWriteTransitionEnabled | ( | bool | enabled | ) |
Set slave read/write transition enabled value.
| enabled | New slave read/write transition enabled value |
| void setSlaveRegister | ( | uint8_t | num, |
| uint8_t | reg | ||
| ) |
Set the active internal register for the specified slave (0-3).
| num | Slave number (0-3) |
| reg | New active register for specified slave |
| void setSlaveWordByteSwap | ( | uint8_t | num, |
| bool | enabled | ||
| ) |
Set word pair byte-swapping enabled for the specified slave (0-3).
| num | Slave number (0-3) |
| enabled | New word pair byte-swapping enabled value for specified slave |
| void setSlaveWordGroupOffset | ( | uint8_t | num, |
| bool | enabled | ||
| ) |
Set word pair grouping order offset for the specified slave (0-3).
| num | Slave number (0-3) |
| enabled | New word pair grouping order offset for specified slave |
| void setSlaveWriteMode | ( | uint8_t | num, |
| bool | mode | ||
| ) |
Set write mode for the specified slave (0-3).
| num | Slave number (0-3) |
| mode | New write mode for specified slave (0 = register address + data, 1 = data only) |
| void setSleepEnabled | ( | bool | enabled | ) |
Set sleep mode status.
| enabled | New sleep mode enabled status |
| void setStandbyXAccelEnabled | ( | bool | enabled | ) |
Set X-axis accelerometer standby enabled status.
| New | X-axis standby enabled status |
| void setStandbyXGyroEnabled | ( | bool | enabled | ) |
Set X-axis gyroscope standby enabled status.
| New | X-axis standby enabled status |
| void setStandbyYAccelEnabled | ( | bool | enabled | ) |
Set Y-axis accelerometer standby enabled status.
| New | Y-axis standby enabled status |
| void setStandbyYGyroEnabled | ( | bool | enabled | ) |
Set Y-axis gyroscope standby enabled status.
| New | Y-axis standby enabled status |
| void setStandbyZAccelEnabled | ( | bool | enabled | ) |
Set Z-axis accelerometer standby enabled status.
| New | Z-axis standby enabled status |
| void setStandbyZGyroEnabled | ( | bool | enabled | ) |
Set Z-axis gyroscope standby enabled status.
| New | Z-axis standby enabled status |
| void setTempFIFOEnabled | ( | bool | enabled | ) |
Set temperature FIFO enabled value.
| enabled | New temperature FIFO enabled value |
| void setTempSensorEnabled | ( | bool | enabled | ) |
Set temperature sensor enabled status. Note: this register stores the disabled value, but for consistency with the rest of the code, the function is named and used with standard true/false values to indicate whether the sensor is enabled or disabled, respectively.
| enabled | New temperature sensor enabled status |
| void setWaitForExternalSensorEnabled | ( | bool | enabled | ) |
Set wait-for-external-sensor-data enabled value.
| enabled | New wait-for-external-sensor-data enabled value |
| void setWakeCycleEnabled | ( | bool | enabled | ) |
Set wake cycle enabled status.
| enabled | New sleep mode enabled status |
| void setWakeFrequency | ( | uint8_t | frequency | ) |
Set wake frequency in Accel-Only Low Power Mode.
| frequency | New wake frequency |
| void setXGyroFIFOEnabled | ( | bool | enabled | ) |
Set gyroscope X-axis FIFO enabled value.
| enabled | New gyroscope X-axis FIFO enabled value |
| void setYGyroFIFOEnabled | ( | bool | enabled | ) |
Set gyroscope Y-axis FIFO enabled value.
| enabled | New gyroscope Y-axis FIFO enabled value |
| void setZeroMotionDetectionDuration | ( | uint8_t | duration | ) |
Set zero motion detection event duration threshold.
| duration | New zero motion detection duration threshold value (LSB = 1ms) |
| void setZeroMotionDetectionThreshold | ( | uint8_t | threshold | ) |
Set zero motion detection event acceleration threshold.
| threshold | New zero motion detection acceleration threshold value (LSB = 2mg) |
| void setZGyroFIFOEnabled | ( | bool | enabled | ) |
Set gyroscope Z-axis FIFO enabled value.
| enabled | New gyroscope Z-axis FIFO enabled value |
| void switchSPIEnabled | ( | bool | enabled | ) |
Switch from I2C to SPI mode (MPU-6000 only) If this is set, the primary SPI interface will be enabled in place of the disabled primary I2C interface.
| bool testConnection | ( | ) |
Verify the I2C connection. Make sure the device is connected and responds as expected.


class DeviseTemplateController extends Controller
Methods
|
__construct(TemplatesRepository $TemplatesRepository, DomScanner $DomScanner, CompilerEngine $CompilerEngine)
Creates a new DeviseTemplateController instance. |
||
| Response |
index()
Displays a list of templates |
|
| Response |
upload()
Displays an edit form for a template |
|
| Response |
review()
Displays a review form for the user to complete the import process |
|
| Response |
store()
Saves the new template |
Details
at line 19
public
__construct(TemplatesRepository $TemplatesRepository, DomScanner $DomScanner, CompilerEngine $CompilerEngine)
Creates a new DeviseTemplateController instance.
at line 31
public Response
index()
Displays a list of templates
at line 45
public Response
upload()
Displays an edit form for a template
at line 57
public Response
review()
Displays a review form for the user to complete the import process
at line 92
public Response
store()
Saves the new template


MathJax Example Pages
View the page source for any of these examples to see how they work.
Page using TeX notation
Page using MathML notation
Page using AsciiMath notation
Page included several examples TeX equations
Page of TeX equations with automatic numbering
Page of TeX equations with equation references
Example of defining TeX macros
Defining macros to autoload the extensions in which they are implemented
Example of waiting until all the math is typeset before displaying the page (avoids "flicker")
Showing an equation one step at a time
Display an equation typed in by a user
Preview text containing math typed in by a user
Loading MathJax into a page after it is loaded
Loading MathJax dynamically with in-line configuration
Page showing MathJax signals during page processing


Minority Programmers Association strives to create a diverse, multidisciplinary community using technical knowledge to develop globally minded projects. We strive to motivate our members through community outreach and professional development events. Our solutions are intended to be humanitarian in nature and socially impactful. We hope to uplift underprivileged communities, diversity the Science Technology Engineering and Mathematics discipline, and approach problems from a software engineering perspective.
The Minority Programmers Association was originally founded in 2019 by a group of culturally diverse Computer Science, SMAD, Intelligence Analysis, and Business students as a national organization aimed to diversify the Science, Technology, Engineering, and Mathematics (STEM) field by allowing a space for minorities to develop humanitarian software solutions for communities in need.
With its first chapter at JMU, MPA uses a project-based learning approach to not only train its members on programming practices but other frontier software development practices as well. The organization aims to attract members from a wide variety of disciplines that utilize technology in their studies. The diversity of the organization aids effective problem solving as we work on impactful humanitarian projects.
The Minority Programmers Association overall vision is to both diversify the STEM field to reflect a diverse world and channel this technological empowerment to fuel humanitarian change. A facet of achieving diversity in STEM is both establishing a professional network of programmers from across the world, but also educating members of this network with both soft and technical skills, further investing in this world’s future. Moreover, as part of this principle of community outreach, MPA intends to implement local outreach with introductory programming courses through our local chapter model.
Our main objectives are as follows:
Kush Gupta is a Sophomore Computer Science student at JMU. As a Co-Founder of MPA, Kush aims to help develop projects that can make a real difference for communities in need. Currently, Kush works for a Defense contractor,Northrop Grumman, and is the President of Recruitment of the Delta Upsilon Fraternity. Planning to graduate a year early, he aims to leave a legacy at JMU with the hope that MPA can expand and create impactful projects that can affect the lives of people daily.
Abele Aynekulu is a Computer Science Major and Minor in Mathematics. He was born in Ethiopia and moved to the US at the age of 10. One of the reasons Abele got in to the field is the aspirations he received from his surroundings. Abele’s dream is to expose and educate communities around the world with the potential of STEM. As a founding member of MPA, Abele focuses on producing projects with an international scope.
Michelle Wong is a sophomore Computer Information Systems with a minor in Chinese. As a founding member of MPA, Michelle’s mission is to encourage young underprivileged programmers through free programming workshops and classes to provide them with equal opportunities of learning among their peers. Michelle’s mission also includes promoting STEM fields as career options to young female programmers and to empower their confidence in their abilities to succeed as much as their male counterparts. Michelle is an active member in multiple organizations including Women in Technology and also is an At-Large Senator on the Academic Committee in the Student Government Association.
Shot is a Computer Science major, Computer Information Systems minor of Bangladeshi descent. As a Co-Founder of MPA, Shot’s dream is to give the tool of computer programming to underprivileged communities to make the world a better place. Shot is also the founder of the JMU Students for Sensible Drug Policy, and President of Virginia DanceSafe, a nonprofit organization providing harm reduction services like drug testing and trip sitting in the nightlife/festival scene. A background in criminology, grassroots organizing, and harm reduction, Shot’s focus is on developing solutions to mitigate the impacts of the war on drugs.
Kyle LaCanna is a sophomore in Computer Science at James Madison University. Kyle aims to spread the knowledge of Computer Programming to everyone and allow everyone to be able to transform the future with technology. At the age of 14, he and a team had developed a gaming server which allowed people from all over the world to come together and make memories. Currently Kyle is the Head of Recruitment for Sigma Phi Delta Engineering Fraternity. Before he leaves James Madison, he wants to expand MPA and help bring the power of programming to students and people of the community.
Jack Vandemeulebroecke is a junior Computer Science major, Mathematics minor and President and co-founder of the JMU SSDP. He is an incoming Software Engineering Intern for Capital One. He enjoys running in his free time and grew up in Arlington Virginia.
River is a Senior, SMAD major at JMU.
Myles is a sophomore in Integrated Sciences and Technology major at James Madison University. Myles’s vision consists of integrating advancements of technology with a larger perspective on global conflicts; such as combating climate challenge. Myles invisions a platform to achieve global solutions through MPA. As a member of the Coders Anonymous club, Myles plans to further his discussion through numerous resources.
Grace is a sophomore Intelligence Analysis and Independent Scholars double major with Computer Science, Telecommunications, and Honors Interdisciplinary Studies minors at James Madison University. Through the Independent Scholars program, she analyzes technological trends and how they impact public policy, governance, and social dynamics around the world. She hopes that MPA can work on humanitarian projects to help combat international crime and address global concerns even if the projects are implemented locally.
Kyle Vinsand is a Computer Science Student at JMU. Moreover, he is a Computer Science Teaching Assistant.
Tauseef Manj is currently a student at Northern Virginia Community College.
Dr. Toledo is a veteran professor having spent over 30 years teaching Computer Science and Math at James Madison University. Dr. Toledo is also Venezuelan native, recipient of JMU’s 2015 Diversity Enhancement Award, and Minority Programmer’s Coalition JMU Faculty Advisor. He also serves as the Editor-In-Chief of International Journal of Computer & Software Engineering (IJCSE). His research interests include Natural Languages, Databases, Data Mining, Compiler, Design, and Discrete Mathematics.


The most of you probably already know this song, but I feel the need of sharing it with you guys.
In the lower part of my country, Holland, we have the second week of February a festival named "Carnaval" (Something like carnival). People dress up weird and there will be loads of alcoholic drinks.
The picture below is random taken photo of a small village with "Carnaval".
http://www.rtvoost.nl/images/T3/800x600/23946.jpg
Back to the thread title.. We like other music with this festival, more happier, partier, etc. The biggest hit for "Carnaval" this year is "Het kuikentje piep" (The little chick peep). I just wanted to share this song with you guys, haha. Oh, it's made in multiple languages (English, Portuguese, Spanish, Dutch, Romanian and Catalonian).

Topicstarter
Meaurk
Global Moderator
lol, as I said, "The most of you probably already know this song". :-)
BrainFooLong
Administrator
Oh my god, Genius :) The ultimative cheep song. Never heard this before.
Dendari
Translator
Meaurk wrote:
lol, as I said, "The most of you probably already know this song". :-)
I'm not sure how many people would love to hear an annoying Italian song. :)
José Ortega
Global Moderator
after listening to this, i just have something to say.

Topicstarter
Meaurk
Global Moderator
Dendari wrote:
Meaurk wrote:
lol, as I said, "The most of you probably already know this song". :-)
I'm not sure how many people would love to hear an annoying Italian song. :)
Make that Dutch, English, Romanian, Spanish, Portuguese, Catalonian - song. :-)
José Ortega
Global Moderator
1 Month after this was posted, i got invaded by this song, everywhere, since then, i can't sleep comfortable without thinking that a chicken is in a radio show.
Topicstarter
Meaurk
Global Moderator
Luckily this song is gone from all Dutch hit lists for a while now. Thank god, haha.


Edit Date Dialog
The Edit Date Dialog lets you modify the value of a date property. You can select a date from the calendar, and enter a time if desired. Use the left and right arrow buttons to change the displayed month. To change the year quickly, you can click on the year and scroll up and down through the year values.
Note: If you are editing a date that has modifiers attached to it (for instance, "5/4/1967?", "March 1953", "1975", "After 1983", etc.), this dialog will remove the modifiers and give you a normal date when you hit OK.
Note: If you edit a time only value (e.g. "5:45:00 PM"), the calendar will show December 31, 1899, which is how a blank date is stored.
The dialog is limited to dates after September 1753.
For more information on the date property type, see Properties and Property Types.


E-Commercials
In the 90,s E-Commercial websites were not that popular. The internet was not
that big back then. Not many people had a computer nor internet. Today
this is not a problem and it is a reason why E-Commercial websites are
a huge part of the internet in this time.
Amazon was one of the first website to start selling online. They used
to sell books online. It was not until the 2000s that Amazon began to get
bigger. To start selling not just books, but more products that we could
use in the everyday life. A big reason why E-Commercial is so successful
is due to technology. It has become so important today that these companies
relied on them. It is where they mostly earn money and why people visit
their websites.
eBay is the other E-Commercial website that competes with Amazon. There
are many more, but I am focusing on the most popular. In this case, eBay
and Amazon were founded almost in the same time. However, eBay was more
than just a selling type website. People could and still can auction products.
Unlike Amazon, one of the bigger reason why eBay has become better
at it. In the other hand, Amazon has become better for companies to sell
their products while eBay is better for people to sell anything they want.
This is where the competition ends. One is better for auctions while the
other for selling products. Amazon became better at selling products specially
technology. eBay became better for auctions and for selling used products.
Today since more people are using the internet, E-Commercial websites are
becoming more important. People tend to buy something from the internet
than going out to their local store. This is one reasons why local
stores are closing and moving to the online world.
Back then these website were lacking on many features. Since technology
has improve, these websites did as well. We can find and we can interact
with more things then what we could before.


--- layout: post title: "The Week in Robots" date: 2015-09-26 08:35:00 +0000 tags: image: https://s3.amazonaws.com/audreywatters/known_copy_fragments.jpg imagecredits: https://www.flickr.com/photos/cogdog/15223631110/ ---
This post first appeared on aud.life
Software Is Smart Enough for SAT, but Still Far From Intelligent
Is this clever robot proof machines will inherit the earth?
AI Helps Humans Best When Humans Help the AI


--- title: QR Code category: Hidden order: 280 ---
The QR code below directs you to the DuckDuckGo homepage.


## ITEC 4220 - Advanced Data Analytics, Fall 2021 ### Module 8 - Data Science with Jupyter Notebooks #### Cengiz Gunay and Richard Price #### Reading: Ch 4-5 and 9 from _Python for Data Analysis_ from creator of the `pandas` library - Updated book [Python for Data Analysis Ed 3](https://wesmckinney.com/book/)
### A more visual editor for Python: Jupyter
### Jupyter - Included in the Anaconda distribution - Start Anaconda from menu or run `anaconda-navigator` on command line - Install the Jupyter Notebook application in Anaconda - If it's already installed, click on Launch to start it - You can also run notebooks online, such as on [Google Colab](https://colab.research.google.com/notebooks/intro.ipynb) - Some examples: [AI Hub](https://aihub.cloud.google.com/u/0/p/products%2F8f82533a-e827-4cc3-9112-9f76c7d6419e), [TensorFlow Generative Adversarial Network](https://colab.research.google.com/github/tensorflow/gan/blob/master/tensorflow_gan/examples/colab_notebooks/tfgan_on_tpus.ipynb)
### Notebooks vs Dashboards Dashboards: - Tableau and Power BI Notebooks: - Jupyter, R Shiny, Gist Industry shifting from dashboards to notebooks: - Dashboards are difficult to prepare and inflexible - Notebooks reveal underlying computation and easy to modify
### Other significant Python modules Our Focus here: - [NumPy](https://numpy.org/doc/stable) - Allows defining N-dimensional arrays (Ch 4) - [pandas](https://pandas.pydata.org/) - Similar to R's _DataFrame_ object, requires _NumPy_ (Ch 5) - [Matplotlib](https://matplotlib.org/) - Standard plotting library (default for _pandas_) (Ch 9) You should also know about: - [scikit-learn](http://scikit-learn.org) - Machine learning library - [keras](https://keras.io/) - Neural network/deep learning library - [TensorFlow](https://www.tensorflow.org/overview) - More advanced ML library, based on Keras API standard.
### An example numerical analysis in Python Load your CSV file using the [Pandas method](https://pandas.pydata.org/docs/getting_started/intro_tutorials/02_read_write.html#how-do-i-read-and-write-tabular-data): ```python >> import pandas as pd >> mydata = pd.read_csv("myfile.csv") ``` Then print the first and last 5 rows like this: ```python >> mydata ``` Show the inferred data types of each of your columns: ```python >> mydata.dtypes ``` And see a technical summary: ```python >> mydata.info() ``` (also see the [10-minutes to Pandas tutorial](https://pandas.pydata.org/docs/getting_started/10min.html). alternatively, you can also use [plain Python to load a CSV file](https://docs.python.org/3/library/csv.html).)
### Calculate average of a data column Pick a data column: ```python >> for age in mydata["age"]: >> sum += age >> print(sum/mydata.shape[0]) ``` Vectorized version: ```python >> mydata["age"].sum()/mydata.shape[0] ``` One-step solution: ```python >> mydata["age"].mean() ``` (see [my Colab notebook](https://colab.research.google.com/drive/1c9GTC1k3krc13Lq0QxZKEyRMUygifUv_#scrollTo=2QVofHAaLbPc))
### Data formats - See Python for Data Analysis, Chapter 6 Some topics: - Loading and saving in different data formats - Common options for loading - Handling exceptions in formatting - Selecting index columns - Reading from URLs - Reading from databases - Binary formats (e.g., HDF5)
### Data cleaning - See Python for Data Analysis, Chapter 7 - Missing data with N/A, NaN, and NULL values - Filtering missing data out - Filling in missing data values - Eliminating duplicates - Replacing values - Adding new calculated columns - Cosmetics (axis labels, etc) - Discretization, outliers - Random sampling and shuffling - String manipulation and regular expressions
### Plotting in Python (see [plotting in pandas using matplotlib](https://pandas.pydata.org/docs/getting_started/intro_tutorials/04_plotting.html)) - line and scatter graphs - bar graphs and distributions (histogram vs density) - other statistics (boxplots) - image plots ([matplotlib commands](https://matplotlib.org/stable/tutorials/introductory/sample_plots.html#contouring-and-pseudocolor)) - surface plots ([matplotlib commands](https://matplotlib.org/stable/tutorials/introductory/sample_plots.html#three-dimensional-plotting))
### Statistics in Python (see [statsmodels](https://www.statsmodels.org)) - [Regression and linear models](https://www.statsmodels.org/stable/user-guide.html#regression-and-linear-models) - [Basic tests](https://www.statsmodels.org/stable/stats.html#basic-statistics-and-t-tests-with-frequency-weights) - [Goodness of fit tests](https://www.statsmodels.org/stable/stats.html#goodness-of-fit-tests-and-measures) - [Non-parametric tests](https://www.statsmodels.org/stable/stats.html#module-statsmodels.sandbox.stats.runs) - [Time series](https://www.statsmodels.org/stable/user-guide.html#time-series-analysis) - [Multivariate](https://www.statsmodels.org/stable/stats.html#multivariate) - [ANOVA](https://www.statsmodels.org/stable/stats.html#oneway-anova)
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