enable motion detection

examples/motion_detection.rs

@@ -0,0 +1,34 @@
+use mpu6050::*;
+use linux_embedded_hal::{I2cdev, Delay};
+use i2cdev::linux::LinuxI2CError;
+use embedded_hal::blocking::delay::DelayMs;
+use mpu6050::device::MOT_DETECT_STATUS;
+
+fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
+    let i2c = I2cdev::new("/dev/i2c-1")
+        .map_err(Mpu6050Error::I2c)?;
+
+    let mut delay = Delay;
+    let mut mpu = Mpu6050::new(i2c);
+    
+    mpu.init(&mut delay)?;
+    mpu.setup_motion_detection(&mut delay)?;
+
+    let mut count: u8 = 0;
+
+    loop {
+        if mpu.get_motion_detected()? {
+            println!("YEAH BUDDY. Motion by axes: {:b}", mpu.read_byte(MOT_DETECT_STATUS::ADDR)?);
+            count += 1;
+        }
+
+        delay.delay_ms(10u8);
+
+        if count > 5 {
+            mpu.reset_device(&mut delay)?;
+            break;
+        }
+    }
+
+    Ok(())
+}

misc/status.md

@@ -19,7 +19,7 @@
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x17] ZG_OFFS_USRH|	R/W |	[15:0] ZG_OFFS_USR|
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x18] ZG_OFFS_USRL|	R/W ||
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x19] SMPLRT_DIV|	R/W |	[7:0] SMPLRT_DIV|
-| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x1A] CONFIG|	R/W |	 	[5:3] EXT_SYNC_SET	[2:0] DLPF_CFG|
+| <ul><li> -[x] </li></ul>|<ul><li> -[ ] </li></ul>|[0x1A] CONFIG|	R/W |	 	[5:3] EXT_SYNC_SET	[2:0] DLPF_CFG|
 | <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x1B] GYRO_CONFIG|	R/W |	[7] XG_ST	[6] YG_ST	[5] ZG_ST	[4:3] FS_SEL|	 
 | <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x1C] ACCEL_CONFIG|	R/W |	[7] XA_ST	[6] YA_ST	[5] ZA_ST	[4:3] AFS_SEL	[2:0] ACCEL_HPF|
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x1D] FF_THR|	R/W |	[7:0] FF_THR|
@@ -48,24 +48,24 @@
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x34] I2C_SLV4_CTRL|	R/W |	[7] I2C_SLV4_EN	[6] I2C_SLV4_INT_EN	[5] I2C_SLV4_REG_DIS	[4:0] I2C_MST_DLY|
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x35] I2C_SLV4_DI|	R/W |	[7:0] I2C_SLV4_DI|
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x36] I2C_MST_STATUS|	RO|	[7] PASS_THROUGH	[6] I2C_SLV4_DONE	[5] I2C_LOST_ARB	[4] I2C_SLV4_NACK	[3] I2C_SLV3_NACK	[2] I2C_SLV2_NACK	[1] I2C_SLV1_NACK	[0] I2C_SLV0_NACK|
-| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x37] INT_PIN_CFG|	R/W |	[7] INT_LEVEL	[6] INT_OPEN	[5] LATCH_INT_EN	[4] INT_RD_CLEAR	[3] FSYNC_INT_LEVEL	[2] FSYNC_INT_EN	[1] I2C_BYPASS_EN	[0] CLKOUT_EN|
+| <ul><li> -[x] </li></ul>|<ul><li> -[ ] </li></ul>|[0x37] INT_PIN_CFG|	R/W |	[7] INT_LEVEL	[6] INT_OPEN	[5] LATCH_INT_EN	[4] INT_RD_CLEAR	[3] FSYNC_INT_LEVEL	[2] FSYNC_INT_EN	[1] I2C_BYPASS_EN	[0] CLKOUT_EN|
-| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x38] INT_ENABLE|	R/W |	[7] FF_EN	[6] MOT_EN	[5] ZMOT_EN	[4] FIFO_OFLOW_EN	[3] I2C_MST_INT_EN	[2] PLL_RDY_INT_EN	[1] DMP_INT_EN	[0] RAW_RDY_EN|
+| <ul><li> -[x] </li></ul>|<ul><li> -[ ] </li></ul>|[0x38] INT_ENABLE|	R/W |	[7] FF_EN	[6] MOT_EN	[5] ZMOT_EN	[4] FIFO_OFLOW_EN	[3] I2C_MST_INT_EN	[2] PLL_RDY_INT_EN	[1] DMP_INT_EN	[0] RAW_RDY_EN|
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x39] DMP_INT_STATUS|	RO|	 	[5] DMP_INT_5	[4] DMP_INT_4	[3] DMP_INT_3	[2] DMP_INT_2	[1] DMP_INT_1	[0] DMP_INT_0|
-| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x3A] INT_STATUS|	RO|	[7] FF_INT	[6] MOT_INT	[5] ZMOT_INT	[4] FIFO_OFLOW_INT	[3] I2C_MST_INT	[2] PLL_RDY_INT	[1] DMP_INT	[0] RAW_RDY_INT|
+| <ul><li> -[x] </li></ul>|<ul><li> -[ ] </li></ul>|[0x3A] INT_STATUS|	RO|	[7] FF_INT	[6] MOT_INT	[5] ZMOT_INT	[4] FIFO_OFLOW_INT	[3] I2C_MST_INT	[2] PLL_RDY_INT	[1] DMP_INT	[0] RAW_RDY_INT|
-| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x3B] ACCEL_XOUT_H|	RO|	[15:0] ACCEL_XOUT|
+| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x3B] ACCEL_XOUT_H|	RO|	[15:0] ACCEL_XOUT|
-| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x3C] ACCEL_XOUT_L|	RO|
+| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x3C] ACCEL_XOUT_L|	RO|
-| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x3D] ACCEL_YOUT_H|	RO|	[15:0] ACCEL_YOUT|
+| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x3D] ACCEL_YOUT_H|	RO|	[15:0] ACCEL_YOUT|
-| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x3E] ACCEL_YOUT_L|	RO|
+| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x3E] ACCEL_YOUT_L|	RO|
-| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x3F] ACCEL_ZOUT_H|	RO|	[15:0] ACCEL_ZOUT|
+| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x3F] ACCEL_ZOUT_H|	RO|	[15:0] ACCEL_ZOUT|
-| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x40] ACCEL_ZOUT_L|	RO||
+| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x40] ACCEL_ZOUT_L|	RO||
-| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x41] TEMP_OUT_H|	RO|	[15:0] TEMP_OUT|
+| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x41] TEMP_OUT_H|	RO|	[15:0] TEMP_OUT|
-| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x42] TEMP_OUT_L|	RO||
+| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x42] TEMP_OUT_L|	RO||
-| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x43] GYRO_XOUT_H|	RO | [15:0] GYRO_XOUT|
+| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x43] GYRO_XOUT_H|	RO | [15:0] GYRO_XOUT|
-| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x44] GYRO_XOUT_L|	RO||
+| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x44] GYRO_XOUT_L|	RO||
-| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x45] GYRO_YOUT_H|	RO|	[15:0] GYRO_YOUT|
+| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x45] GYRO_YOUT_H|	RO|	[15:0] GYRO_YOUT|
-| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x46] GYRO_YOUT_L|	RO||
+| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x46] GYRO_YOUT_L|	RO||
-| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x47] GYRO_ZOUT_H|	RO|	[15:0] GYRO_ZOUT|
+| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x47] GYRO_ZOUT_H|	RO|	[15:0] GYRO_ZOUT|
-| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x48] GYRO_ZOUT_L|	RO||
+| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x48] GYRO_ZOUT_L|	RO||
 | <ul><li> -[ ] </ul></li>|<ul><li> -[ ] </li></ul>|[0x49] EXT_SENS_DATA_00|	RO	|[7:0] EXT_SENS_DATA_00|
 | <ul><li> -[ ] </ul></li>|<ul><li> -[ ] </li></ul>|[0x4A] EXT_SENS_DATA_01|	RO	|[7:0] EXT_SENS_DATA_01|
 | <ul><li> -[ ] </ul></li>|<ul><li> -[ ] </li></ul>|[0x4B] EXT_SENS_DATA_02|	RO	|[7:0] EXT_SENS_DATA_02|
@@ -90,14 +90,14 @@
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x5E] EXT_SENS_DATA_21|	RO	|[7:0] EXT_SENS_DATA_21|
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x5F] EXT_SENS_DATA_22|	RO	|[7:0] EXT_SENS_DATA_22|
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x60] EXT_SENS_DATA_23|	RO	|[7:0] EXT_SENS_DATA_23|
-| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x61] MOT_DETECT_STATUS|	RO	|[7] MOT_XNEG	[6] MOT_XPOS	[5] MOT_YNEG	[4] MOT_YPOS	[3] MOT_ZNEG	[2] MOT_ZPOS	 	[0] MOT_ZRMOT|
+| <ul><li> -[x] </li></ul>|<ul><li> -[ ] </li></ul>|[0x61] MOT_DETECT_STATUS|	RO	|[7] MOT_XNEG	[6] MOT_XPOS	[5] MOT_YNEG	[4] MOT_YPOS	[3] MOT_ZNEG	[2] MOT_ZPOS	 	[0] MOT_ZRMOT|
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x63] I2C_SLV0_DO|	R/W |	[7:0] I2C_SLV0_DO|
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x64] I2C_SLV1_DO|	R/W |	[7:0] I2C_SLV1_DO|
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x65] I2C_SLV2_DO|	R/W |	[7:0] I2C_SLV2_DO|
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x66] I2C_SLV3_DO|	R/W |	[7:0] I2C_SLV3_DO|
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x67] I2C_MST_DELAY_CTRL|	R/W |	[7] DELAY_ES_SHADOW	 	[4] I2C_SLV4_DLY_EN	[3] I2C_SLV3_DLY_EN	[2] I2C_SLV2_DLY_EN	[1] I2C_SLV1_DLY_EN	[0] I2C_SLV0_DLY_EN|
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x68] SIGNAL_PATH_RESET|	R/W |	 	[2] GYRO_RESET	[1] ACCEL_RESET	[0] TEMP_RESET|
-| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x69] MOT_DETECT_CTRL|	R/W |	 	[5:4] ACCEL_ON_DELAY	[3:2] FF_COUNT	[1:0] MOT_COUNT|
+| <ul><li> -[x] </li></ul>|<ul><li> -[ ] </li></ul>|[0x69] MOT_DETECT_CTRL|	R/W |	 	[5:4] ACCEL_ON_DELAY	[3:2] FF_COUNT	[1:0] MOT_COUNT|
 | <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x6A] USER_CTRL|	R/W |	[7] DMP_EN	[6] FIFO_EN	[5] I2C_MST_EN	[4] I2C_IF_DIS	[3] DMP_RESET	[2] FIFO_RESET	[1] I2C_MST_RESET	[0] SIG_COND_RESET|
 | <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x6B] PWR_MGMT_1|	R/W |	[7] DEVICE_RESET	[6] SLEEP	[5] CYCLE	 	[3] TEMP_DIS	[2:0] CLK_SEL|
 | <ul><li> -[x] </li></ul>|<ul><li> -[ ] </li></ul>|[0x6C] PWR_MGMT_2|	R/W |	[7] LP_WAKE_CTRL	 	[5] STBY_ZG	[4] STBY_YA	[3] STBY_ZA	[2] STBY_XG	[1] STBY_YG	[0] STBY_ZG|

src/device.rs

@@ -2,6 +2,7 @@
 //! Register map: https://arduino.ua/docs/RM-MPU-6000A.pdf
 //! Datasheet with WAY more info about interrupts (Revision 3.2) https://www.cdiweb.com/datasheets/invensense/ps-mpu-6000a.pdf
 //!
+//!
 
 /// Gyro Sensitivity
 ///
@@ -46,10 +47,6 @@ impl Specs {
 #[derive(Copy, Clone, Debug)]
 /// Register addresses
 pub enum Registers {
-    /// Slave address of Mpu6050
-    SLAVE_ADDR = 0x68,
-    /// Internal register to check slave addr
-    WHOAMI = 0x75,
     /// High Byte Register Gyro x orientation
     GYRO_REGX_H = 0x43,
     /// High Byte Register Gyro y orientation
@@ -64,10 +61,18 @@ pub enum Registers {
     ACC_REGZ_H = 0x3f,
     /// High Byte Register Temperature
     TEMP_OUT_H = 0x41,
-    /// Internal clock
+    //
-    POWER_MGMT_2 = 0x6c,
 }
 
+/// Slave address of Mpu6050
+pub const SLAVE_ADDR: u8 = 0x68;
+/// Internal register to check slave addr
+pub const WHOAMI: u8 = 0x75;
+/// Motion Threshold Register
+pub const MOT_THR: u8 = 0x1F;
+/// Motion Duration Detection Register
+pub const MOT_DUR: u8 = 0x20;
+
 /// Describes a bit block from bit number 'bit' to 'bit'+'length'
 pub struct BitBlock {
     pub bit: u8,
@@ -80,6 +85,20 @@ impl Registers {
     }
 }
 
+#[allow(non_camel_case_types)]
+#[derive(Copy, Clone, Debug)]
+/// Register 26: Configuration (DLPF, External signal)
+pub struct CONFIG;
+
+impl CONFIG {
+    /// Base Address
+    pub const ADDR: u8 = 0x1a;
+    /// external Frame Synchronisation (FSYNC)
+    pub const EXT_SYNC_SET: BitBlock = BitBlock { bit: 5, length: 3};
+    /// Digital Low Pass Filter (DLPF) config
+    pub const DLPF_CFG: BitBlock = BitBlock { bit: 2, length: 3};
+}
+
 #[allow(non_camel_case_types)]
 #[derive(Copy, Clone, Debug)]
 /// Register 27: Gyro Config
@@ -119,7 +138,117 @@ impl ACCEL_CONFIG {
 
 #[allow(non_camel_case_types)]
 #[derive(Copy, Clone, Debug)]
-/// Register 107: Power Management
+/// Register 55: INT Pin / Bypass Enable Configuration
+pub struct INT_PIN_CFG;
+
+impl INT_PIN_CFG {
+    /// Base Address
+    pub const ADDR: u8 = 0x37;
+    /// INT pin logic level
+    pub const INT_LEVEL: u8 = 7;
+    /// INT pin config
+    pub const INT_OPEN: u8 = 6;
+    /// Pulse (length)
+    pub const LATCH_INT_EN: u8 = 5;
+    /// INT clear conditions
+    pub const INT_RD_CLEAR: u8 = 4;
+    /// FSYNC PIN logic level
+    pub const FSYNC_INT_LEVEL: u8 = 3;
+    /// FSYNC PIN config
+    pub const FSYNC_INT_EN: u8 = 2;
+    /// i2c access/bypass
+    pub const I2C_BYPASS_EN: u8 = 1;
+    /// enable/disable reference clock output
+    pub const CLKOUT_EN: u8 = 0;
+}
+
+#[allow(non_camel_case_types)]
+#[derive(Copy, Clone, Debug)]
+/// Register 56: Interrupt Status
+pub struct INT_ENABLE;
+
+impl INT_ENABLE {
+    /// Base Address
+    pub const ADDR: u8 = 0x38;
+    /// Generate interrupt Free Fall Detection
+    pub const FF_EN: u8 = 7;
+    /// Generate interrupt with Motion Detected
+    pub const MOT_EN: u8 = 6;
+    /// Generate iterrrupt when Zero Motion Detection
+    pub const ZMOT_EN: u8 = 5;
+    /// Generate iterrupt when FIFO buffer overflow
+    pub const FIFO_OFLOW_END: u8 = 4;
+    /// this  bit enables  any  of  the  I2C  Masterinterrupt  sources  to generate an interrupt
+    pub const I2C_MST_INT_EN: u8 = 3;
+    /// enables Data Ready interrupt, each time a write operation to all sensor registers completed
+    pub const DATA_RDY_EN: u8 = 0;
+}
+
+#[allow(non_camel_case_types)]
+#[derive(Copy, Clone, Debug)]
+/// Register 58: Interrupt Status
+pub struct INT_STATUS;
+
+impl INT_STATUS {
+    /// Base Address
+    pub const ADDR: u8 = 0x3a;
+    /// Free Fall Interrupt
+    pub const FF_INT: u8 = 7;
+    /// Motion Detection Interrupt
+    pub const MOT_INT: u8 = 6;
+    /// Zero Motion Detection Interrupt
+    pub const ZMOT_INT: u8 = 5;
+    /// FIFO buffer overflow
+    pub const FIFO_OFLOW_INT: u8 = 4;
+    /// i2c master interrupt has been generated
+    pub const I2C_MSF_INT: u8 = 3;
+    /// Data is ready
+    pub const DATA_RDY_INT: u8 = 0;
+}
+
+#[allow(non_camel_case_types)]
+#[derive(Copy, Clone, Debug)]
+/// Register 97: Motion Detection Status
+pub struct MOT_DETECT_STATUS;
+
+impl MOT_DETECT_STATUS {
+    /// Base Address
+    pub const ADDR: u8 = 0x61;
+    /// motion  in  the  negative  X  axis  has generated a Motion detection interrupt
+    pub const MOT_XNEG: u8 = 7;
+    /// motion  in  the  positive  X  axis  has generated a Motion detection interrupt
+    pub const MOT_XPOS: u8 = 6;
+    /// motion  in  the  negative  Y  axis  has generated a Motion detection interrupt
+    pub const MOT_YNEG: u8 = 5;
+    /// motion  in  the positive  Y  axis  has generated a Motion detection interrupt
+    pub const MOT_YPOS: u8 = 4;
+    /// motion  in  the  negative  Z  axis  has generated a Motion detection interrupt.
+    pub const MOT_ZNEG: u8 = 3;
+    /// motion  in  the  positive  Z  axis  has generated a Motion detection interrupt
+    pub const MOT_ZPOS: u8 = 2;
+    /// Zero  Motion detection  interrupt  is generated
+    pub const MOT_ZRMOT: u8 = 0;
+}
+
+#[allow(non_camel_case_types)]
+#[derive(Copy, Clone, Debug)]
+/// Register 105: Motion Detection Control
+pub struct MOT_DETECT_CONTROL;
+
+impl MOT_DETECT_CONTROL {
+    /// Base Address
+    pub const ADDR: u8 = 0x69;
+    /// Additional delay
+    pub const ACCEL_ON_DELAY: BitBlock = BitBlock { bit: 5, length: 2};
+    ///  Free Fall count
+    pub const FF_COUNT: BitBlock = BitBlock { bit: 3, length: 2};
+    /// Motion Detection cound
+    pub const MOT_COUNT: BitBlock = BitBlock { bit: 1, length: 2};
+}
+
+#[allow(non_camel_case_types)]
+#[derive(Copy, Clone, Debug)]
+/// Register 107: Power Management 1
 pub struct PWR_MGMT_1;
 
 impl PWR_MGMT_1 {
@@ -137,6 +266,40 @@ impl PWR_MGMT_1 {
     pub const CLKSEL: BitBlock = BitBlock { bit: 2, length: 3 };
 }
 
+#[allow(non_camel_case_types)]
+#[derive(Copy, Clone, Debug)]
+/// Register 107: Power Management 2
+pub struct PWR_MGMT_2;
+
+impl PWR_MGMT_2 {
+    /// Base Address
+    pub const ADDR: u8 = 0x6c;
+    /// Wake up frequency
+    pub const LP_WAKE_CTRL: BitBlock = BitBlock { bit: 7, length: 2};
+    /// disable accel axis x
+    pub const STBY_XA: u8 = 5;
+    /// disable accel axis y
+    pub const STBY_YA: u8 = 4;
+    /// disable accel axis z
+    pub const STBY_ZA: u8 = 3;
+    /// disable gyro  axis x
+    pub const STBY_XG: u8 = 2;
+    /// disable gyro  axis y
+    pub const STBY_YG: u8 = 1;
+    /// disable gyro  axis z
+    pub const STBY_ZG: u8 = 0;
+}
+
+#[allow(non_camel_case_types)]
+#[derive(Copy, Clone, Debug, Eq, PartialEq)]
+/// Wake values
+pub enum LP_WAKE_CTRL {
+    _1P25 = 0,
+    _2P5,
+    _5,
+    _10,
+}
+
 #[allow(non_camel_case_types)]
 #[derive(Copy, Clone, Debug, Eq, PartialEq)]
 /// Accelerometer High Pass Filter Values

src/lib.rs

@@ -140,13 +140,34 @@ where
 
     /// Verifies device to address 0x68 with WHOAMI.addr() Register
     fn verify(&mut self) -> Result<(), Mpu6050Error<E>> {
-        let address = self.read_byte(WHOAMI.addr())?;
+        let address = self.read_byte(WHOAMI)?;
-        if address != SLAVE_ADDR.addr() {
+        if address != SLAVE_ADDR {
             return Err(Mpu6050Error::InvalidChipId(address));
         }
         Ok(())
     }
 
+    /// setup motion detection
+    /// sources:
+    /// * https://github.com/kriswiner/MPU6050/blob/a7e0c8ba61a56c5326b2bcd64bc81ab72ee4616b/MPU6050IMU.ino#L486
+    /// * https://arduino.stackexchange.com/a/48430
+    pub fn setup_motion_detection<D: DelayMs<u8>>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> {
+        self.write_byte(0x6B, 0x00)?;
+        // optional? self.write_byte(0x68, 0x07)?; // Reset all internal signal paths in the MPU-6050 by writing 0x07 to register 0x68;
+        self.write_byte(INT_PIN_CFG::ADDR, 0x20)?; //write register 0x37 to select how to use the interrupt pin. For an active high, push-pull signal that stays until register (decimal) 58 is read, write 0x20.
+        self.write_byte(ACCEL_CONFIG::ADDR, 0x01)?; //Write register 28 (==0x1C) to set the Digital High Pass Filter, bits 3:0. For example set it to 0x01 for 5Hz. (These 3 bits are grey in the data sheet, but they are used! Leaving them 0 means the filter always outputs 0.)
+        self.write_byte(MOT_THR, 10)?; //Write the desired Motion threshold to register 0x1F (For example, write decimal 20).
+        self.write_byte(MOT_DUR, 40)?; //Set motion detect duration to 1  ms; LSB is 1 ms @ 1 kHz rate
+        self.write_byte(0x69, 0x15)?; //to register 0x69, write the motion detection decrement and a few other settings (for example write 0x15 to set both free-fall and motion decrements to 1 and accelerometer start-up delay to 5ms total by adding 1ms. )
+        self.write_byte(INT_ENABLE::ADDR, 0x40)?; //write register 0x38, bit 6 (0x40), to enable motion detection interrupt.
+        Ok(())
+    }
+
+    /// get whether or not motion has been detected (INT_STATUS, MOT_INT)
+    pub fn get_motion_detected(&mut self) -> Result<bool, Mpu6050Error<E>> {
+        Ok(self.read_bit(INT_STATUS::ADDR, INT_STATUS::MOT_INT)? != 0)
+    }
+
     /// set accel high pass filter mode
     pub fn set_accel_hpf(&mut self, mode: ACCEL_HPF) -> Result<(), Mpu6050Error<E>> {
         Ok(