!
        Set to enable Motion Detection Interrupt

        @param motDHPF Set the Digital High Pass Filter. Default is 0x01 (5Hz)
        @param motTHR  Desired motion threshold. Default is 20 (0x14)
        @param motDUR  Desired motion duration. Default is 48ms (0x30)
        @param motDeteDec Motion detection decrement. Default is 21 (0x15)
        
        @note <b>motDHPF</b> should be one of the following values:<br>
            0x00: RESET,<br>
            0x01: 5Hz,<br>
            0x02: 2.5Hz,<br>
            0x03: 1.25Hz,<br>
            0x04: 0.63Hz,<br>
            0x07: HOLD<br>

def setMotionInt(self, motDHPF = 0x01, motTHR = 0x14, motDUR = 0x30, motDeteDec = 0x15 ):
        """!
        Set to enable Motion Detection Interrupt

        @param motDHPF Set the Digital High Pass Filter. Default is 0x01 (5Hz)
        @param motTHR  Desired motion threshold. Default is 20 (0x14)
        @param motDUR  Desired motion duration. Default is 48ms (0x30)
        @param motDeteDec Motion detection decrement. Default is 21 (0x15)
        
        @note <b>motDHPF</b> should be one of the following values:<br>
            0x00: RESET,<br>
            0x01: 5Hz,<br>
            0x02: 2.5Hz,<br>
            0x03: 1.25Hz,<br>
            0x04: 0.63Hz,<br>
            0x07: HOLD<br>
        """
        #After power on (0x00 to register (decimal) 107), the Motion Detection Interrupt can be enabled as follows:
        #self._sendCmd( self.REG_PWR_MGMT_1, 0x00 )
        #(optionally?) Reset all internal signal paths in the MPU-6050 by writing 0x07 to register 0x68;
        self._sendCmd( self.REG_SIGNAL_PATH_RESET, 0x07 )
        #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 (need read to clear INT state) or 0x00 (auto clear INT state).
        self._sendCmd( self.REG_INT_PIN_CFG, 0x00 )
        
        orgAccelConf = self._readByte(self.REG_ACCEL_CONFIG)
        newAccelConf = ( (orgAccelConf | 0xE7) ^ 0xE7 ) | motDHPF
        # 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.)
        #
        # 0x00: RESET,
        # 0x01: 5Hz,
        # 0x02: 2.5Hz,
        # 0x03: 1.25Hz,
        # 0x04: 0.63Hz,
        # 0x07: hold
        #
        # 高通滤波器灵敏度调节
        #
        self._sendCmd( self.REG_ACCEL_CONFIG, newAccelConf )
        #Write the desired Motion threshold to register 0x1F (For example, write decimal 20).
        self._sendCmd( self.REG_MOTION_DET, motTHR )
        #To register 0x20 (hex), write the desired motion duration, for example 40ms (0x28).
        # 灵敏度调节
        self._sendCmd( self.REG_MOTION_DET_DUR, motDUR )
        
        #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 accelerome0x00ter 
        #start-up delay to 5ms total by adding 1ms. )
        self._sendCmd( self.REG_MOTION_DET_CTRL, motDeteDec )

        #write register 0x38, bit 6 (0x40), to enable motion detection interrupt.
        self._sendCmd( self.REG_INT_ENABLE, self.VAL_INT_ENABLE_MOTION )