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MPU9250.h
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/** Based on InvenSense MPU-9250 register map document rev. 1.4, 9/9/2013 (RM-MPU-9250A-00)
* 13/04/2014 by Conor Forde <[email protected]>
* Updates should be available at https://github.com/Snowda/MPU9250
*
* Changelog:
* ... - ongoing development release
* NOTE: THIS IS ONLY A PARIAL RELEASE.
* THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE DEVELOPMENT AND IS MISSING MOST FEATURES.
* PLEASE KEEP THIS IN MIND IF YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
*/
#ifndef _MPU9250_H_
#define _MPU9250_H_
#include <avr/pgmspace.h>
//MPU9250 Register map
#define MPU9250_DEFAULT_ADDRESS 0xD1
#define MPU9250_ALT_DEFAULT_ADDRESS 0xD2
#define MPU9250_SELF_TEST_X_GYRO 0x00
#define MPU9250_SELF_TEST_Y_GYRO 0x01
#define MPU9250_SELF_TEST_Z_GYRO 0x02
#define MPU9250_SELF_TEST_X_ACCEL 0x0D
#define MPU9250_SELF_TEST_Y_ACCEL 0x0E
#define MPU9250_SELF_TEST_Z_ACCEL 0x0F
#define MPU9250_XG_OFFSET_H 0x13
#define MPU9250_XG_OFFSET_L 0x14
#define MPU9250_YG_OFFSET_H 0x15
#define MPU9250_YG_OFFSET_L 0x16
#define MPU9250_ZG_OFFSET_H 0x17
#define MPU9250_ZG_OFFSET_L 0x18
#define MPU9250_SMPLRT_DIV 0x19
#define MPU9250_CONFIG 0x1A
#define MPU9250_GYRO_CONFIG 0x1B
#define MPU9250_ACCEL_CONFIG 0x1C
#define MPU9250_ACCEL_CONFIG2 0x1D
#define MPU9250_LP_ACCEL_ODR 0x1E
#define MPU9250_WOM_THR 0x1F
#define MPU9250_FIFO_EN 0x23
#define MPU9250_I2C_MST_CTRL 0x24
#define MPU9250_I2C_SLV0_ADDR 0x25
#define MPU9250_I2C_SLV0_REG 0x26
#define MPU9250_I2C_SLV0_CTRL 0x27
#define MPU9250_I2C_SLV1_ADDR 0x28
#define MPU9250_I2C_SLV1_REG 0x29
#define MPU9250_I2C_SLV1_CTRL 0x2A
#define MPU9250_I2C_SLV2_ADDR 0x2B
#define MPU9250_I2C_SLV2_REG 0x2C
#define MPU9250_I2C_SLV2_CTRL 0x2D
#define MPU9250_I2C_SLV3_ADDR 0x2E
#define MPU9250_I2C_SLV3_REG 0x2F
#define MPU9250_I2C_SLV3_CTRL 0x30
#define MPU9250_I2C_SLV4_ADDR 0x31
#define MPU9250_I2C_SLV4_REG 0x32
#define MPU9250_I2C_SLV4_DO 0x33
#define MPU9250_I2C_SLV4_CTRL 0x34
#define MPU9250_I2C_SLV4_DI 0x35
#define MPU9250_I2C_MST_STATUS 0x36
#define MPU9250_INT_PIN_CFG 0x37
#define MPU9250_INT_ENABLE 0x38
#define MPU9250_INT_STATUS 0x3A
#define MPU9250_ACCEL_XOUT_H 0x3B
#define MPU9250_ACCEL_XOUT_L 0x3C
#define MPU9250_ACCEL_YOUT_H 0x3D
#define MPU9250_ACCEL_YOUT_L 0x3E
#define MPU9250_ACCEL_ZOUT_H 0x3F
#define MPU9250_ACCEL_ZOUT_L 0x40
#define MPU9250_TEMP_OUT_H 0x41
#define MPU9250_TEMP_OUT_L 0x42
#define MPU9250_GYRO_XOUT_H 0x43
#define MPU9250_GYRO_XOUT_L 0x44
#define MPU9250_GYRO_YOUT_H 0x45
#define MPU9250_GYRO_YOUT_L 0x46
#define MPU9250_GYRO_ZOUT_H 0x47
#define MPU9250_GYRO_ZOUT_L 0x48
#define MPU9250_EXT_SENS_DATA_00 0x49
#define MPU9250_EXT_SENS_DATA_01 0x4A
#define MPU9250_EXT_SENS_DATA_02 0x4B
#define MPU9250_EXT_SENS_DATA_03 0x4C
#define MPU9250_EXT_SENS_DATA_04 0x4D
#define MPU9250_EXT_SENS_DATA_05 0x4E
#define MPU9250_EXT_SENS_DATA_06 0x4F
#define MPU9250_EXT_SENS_DATA_07 0x50
#define MPU9250_EXT_SENS_DATA_08 0x51
#define MPU9250_EXT_SENS_DATA_09 0x52
#define MPU9250_EXT_SENS_DATA_10 0x53
#define MPU9250_EXT_SENS_DATA_11 0x54
#define MPU9250_EXT_SENS_DATA_12 0x55
#define MPU9250_EXT_SENS_DATA_13 0x56
#define MPU9250_EXT_SENS_DATA_14 0x57
#define MPU9250_EXT_SENS_DATA_15 0x58
#define MPU9250_EXT_SENS_DATA_16 0x59
#define MPU9250_EXT_SENS_DATA_17 0x5A
#define MPU9250_EXT_SENS_DATA_18 0x5B
#define MPU9250_EXT_SENS_DATA_19 0x5C
#define MPU9250_EXT_SENS_DATA_20 0x5D
#define MPU9250_EXT_SENS_DATA_21 0x5E
#define MPU9250_EXT_SENS_DATA_22 0x5F
#define MPU9250_EXT_SENS_DATA_23 0x60
#define MPU9250_I2C_SLV0_DO 0x63
#define MPU9250_I2C_SLV1_DO 0x64
#define MPU9250_I2C_SLV2_DO 0x65
#define MPU9250_I2C_SLV3_DO 0x66
#define MPU9250_I2C_MST_DELAY_CTRL 0x67
#define MPU9250_SIGNAL_PATH_RESET 0x68
#define MPU9250_MOT_DETECT_CTRL 0x69
#define MPU9250_USER_CTRL 0x6A
#define MPU9250_PWR_MGMT_1 0x6B
#define MPU9250_PWR_MGMT_2 0x6C
#define MPU9250_FIFO_COUNTH 0x72
#define MPU9250_FIFO_COUNTL 0x73
#define MPU9250_FIFO_R_W 0x74
#define MPU9250_WHO_AM_I 0x75
#define MPU9250_XA_OFFSET_H 0x77
#define MPU9250_XA_OFFSET_L 0x78
#define MPU9250_YA_OFFSET_H 0x7A
#define MPU9250_YA_OFFSET_L 0x7B
#define MPU9250_ZA_OFFSET_H 0x7D
#define MPU9250_ZA_OFFSET_L 0x7E
//reset values
#define WHOAMI_RESET_VAL 0x71
#define POWER_MANAGMENT_1_RESET_VAL 0x01
#define DEFAULT_RESET_VALUE 0x00
#define WHOAMI_DEFAULT_VAL 0x68
//CONFIG register masks
#define MPU9250_FIFO_MODE_MASK 0x40
#define MPU9250_EXT_SYNC_SET_MASK 0x38
#define MPU9250_DLPF_CFG_MASK 0x07
//GYRO_CONFIG register masks
#define MPU9250_XGYRO_CTEN_MASK 0x80
#define MPU9250_YGYRO_CTEN_MASK 0x40
#define MPU9250_ZGYRO_CTEN_MASK 0x20
#define MPU9250_GYRO_FS_SEL_MASK 0x18
#define MPU9250_FCHOICE_B_MASK 0x03
#define MPU9250_GYRO_FULL_SCALE_250DPS 0
#define MPU9250_GYRO_FULL_SCALE_500DPS 1
#define MPU9250_GYRO_FULL_SCALE_1000DPS 2
#define MPU9250_GYRO_FULL_SCALE_2000DPS 3
//ACCEL_CONFIG register masks
#define MPU9250_AX_ST_EN_MASK 0x80
#define MPU9250_AY_ST_EN_MASK 0x40
#define MPU9250_AZ_ST_EN_MASK 0x20
#define MPU9250_ACCEL_FS_SEL_MASK 0x18
#define MPU9250_FULL_SCALE_2G 0
#define MPU9250_FULL_SCALE_4G 1
#define MPU9250_FULL_SCALE_8G 2
#define MPU9250_FULL_SCALE_16G 3
//ACCEL_CONFIG_2 register masks
#define MPU9250_ACCEL_FCHOICE_B_MASK 0xC0
#define MPU9250_A_DLPF_CFG_MASK 0x03
//LP_ACCEL_ODR register masks
#define MPU9250_LPOSC_CLKSEL_MASK 0x0F
//FIFO_EN register masks
#define MPU9250_TEMP_FIFO_EN_MASK 0x80
#define MPU9250_GYRO_XOUT_MASK 0x40
#define MPU9250_GYRO_YOUT_MASK 0x20
#define MPU9250_GYRO_ZOUT_MASK 0x10
#define MPU9250_ACCEL_MASK 0x08
#define MPU9250_SLV2_MASK 0x04
#define MPU9250_SLV1_MASK 0x02
#define MPU9250_SLV0_MASK 0x01
//I2C_MST_CTRL register masks
#define MPU9250_MULT_MST_EN_MASK 0x80
#define MPU9250_WAIT_FOR_ES_MASK 0x40
#define MPU9250_SLV_3_FIFO_EN_MASK 0x20
#define MPU9250_I2C_MST_P_NSR_MASK 0x10
#define MPU9250_I2C_MST_CLK_MASK 0x0F
//I2C_SLV0_ADDR register masks
#define MPU9250_I2C_SLV0_RNW_MASK 0x80
#define MPU9250_I2C_ID_0_MASK 0x7F
//I2C_SLV0_CTRL register masks
#define MPU9250_I2C_SLV0_EN_MASK 0x80
#define MPU9250_I2C_SLV0_BYTE_SW_MASK 0x40
#define MPU9250_I2C_SLV0_REG_DIS_MASK 0x20
#define MPU9250_I2C_SLV0_GRP_MASK 0x10
#define MPU9250_I2C_SLV0_LENG_MASK 0x0F
//I2C_SLV1_ADDR register masks
#define MPU9250_I2C_SLV1_RNW_MASK 0x80
#define MPU9250_I2C_ID_1_MASK 0x7F
//I2C_SLV1_CTRL register masks
#define MPU9250_I2C_SLV1_EN_MASK 0x80
#define MPU9250_I2C_SLV1_BYTE_SW_MASK 0x40
#define MPU9250_I2C_SLV1_REG_DIS_MASK 0x20
#define MPU9250_I2C_SLV1_GRP_MASK 0x10
#define MPU9250_I2C_SLV1_LENG_MASK 0x0F
//I2C_SLV2_ADDR register masks
#define MPU9250_I2C_SLV2_RNW_MASK 0x80
#define MPU9250_I2C_ID_2_MASK 0x7F
//I2C_SLV2_CTRL register masks
#define MPU9250_I2C_SLV2_EN_MASK 0x80
#define MPU9250_I2C_SLV2_BYTE_SW_MASK 0x40
#define MPU9250_I2C_SLV2_REG_DIS_MASK 0x20
#define MPU9250_I2C_SLV2_GRP_MASK 0x10
#define MPU9250_I2C_SLV2_LENG_MASK 0x0F
//I2C_SLV3_ADDR register masks
#define MPU9250_I2C_SLV3_RNW_MASK 0x80
#define MPU9250_I2C_ID_3_MASK 0x7F
//I2C_SLV3_CTRL register masks
#define MPU9250_I2C_SLV3_EN_MASK 0x80
#define MPU9250_I2C_SLV3_BYTE_SW_MASK 0x40
#define MPU9250_I2C_SLV3_REG_DIS_MASK 0x20
#define MPU9250_I2C_SLV3_GRP_MASK 0x10
#define MPU9250_I2C_SLV3_LENG_MASK 0x0F
//I2C_SLV4_ADDR register masks
#define MPU9250_I2C_SLV4_RNW_MASK 0x80
#define MPU9250_I2C_ID_4_MASK 0x7F
//I2C_SLV4_CTRL register masks
#define MPU9250_I2C_SLV4_EN_MASK 0x80
#define MPU9250_SLV4_DONE_INT_EN_MASK 0x40
#define MPU9250_I2C_SLV4_REG_DIS_MASK 0x20
#define MPU9250_I2C_MST_DLY_MASK 0x1F
//I2C_MST_STATUS register masks
#define MPU9250_PASS_THROUGH_MASK 0x80
#define MPU9250_I2C_SLV4_DONE_MASK 0x40
#define MPU9250_I2C_LOST_ARB_MASK 0x20
#define MPU9250_I2C_SLV4_NACK_MASK 0x10
#define MPU9250_I2C_SLV3_NACK_MASK 0x08
#define MPU9250_I2C_SLV2_NACK_MASK 0x04
#define MPU9250_I2C_SLV1_NACK_MASK 0x02
#define MPU9250_I2C_SLV0_NACK_MASK 0x01
//INT_PIN_CFG register masks
#define MPU9250_ACTL_MASK 0x80
#define MPU9250_OPEN_MASK 0x40
#define MPU9250_LATCH_INT_EN_MASK 0x20
#define MPU9250_INT_ANYRD_2CLEAR_MASK 0x10
#define MPU9250_ACTL_FSYNC_MASK 0x08
#define MPU9250_FSYNC_INT_MODE_EN_MASK 0x04
#define MPU9250_BYPASS_EN_MASK 0x02
//INT_ENABLE register masks
#define MPU9250_WOM_EN_MASK 0x40
#define MPU9250_FIFO_OFLOW_EN_MASK 0x10
#define MPU9250_FSYNC_INT_EN_MASK 0x08
#define MPU9250_RAW_RDY_EN_MASK 0x01
//INT_STATUS register masks
#define MPU9250_WOM_INT_MASK 0x40
#define MPU9250_FIFO_OFLOW_INT_MASK 0x10
#define MPU9250_FSYNC_INT_MASK 0x08
#define MPU9250_RAW_DATA_RDY_INT_MASK 0x01
//I2C_MST_DELAY_CTRL register masks
#define MPU9250_DELAY_ES_SHADOW_MASK 0x80
#define MPU9250_I2C_SLV4_DLY_EN_MASK 0x10
#define MPU9250_I2C_SLV3_DLY_EN_MASK 0x08
#define MPU9250_I2C_SLV2_DLY_EN_MASK 0x04
#define MPU9250_I2C_SLV1_DLY_EN_MASK 0x02
#define MPU9250_I2C_SLV0_DLY_EN_MASK 0x01
//SIGNAL_PATH_RESET register masks
#define MPU9250_GYRO_RST_MASK 0x04
#define MPU9250_ACCEL_RST_MASK 0x02
#define MPU9250_TEMP_RST_MASK 0x01
//MOT_DETECT_CTRL register masks
#define MPU9250_ACCEL_INTEL_EN_MASK 0x80
#define MPU9250_ACCEL_INTEL_MODE_MASK 0x40
//USER_CTRL register masks
#define MPU9250_FIFO_EN_MASK 0x40
#define MPU9250_I2C_MST_EN_MASK 0x20
#define MPU9250_I2C_IF_DIS_MASK 0x10
#define MPU9250_FIFO_RST_MASK 0x04
#define MPU9250_I2C_MST_RST_MASK 0x02
#define MPU9250_SIG_COND_RST_MASK 0x01
//PWR_MGMT_1 register masks
#define MPU9250_H_RESET_MASK 0x80
#define MPU9250_SLEEP_MASK 0x40
#define MPU9250_CYCLE_MASK 0x20
#define MPU9250_GYRO_STANDBY_CYCLE_MASK 0x10
#define MPU9250_PD_PTAT_MASK 0x08
#define MPU9250_CLKSEL_MASK 0x07
//PWR_MGMT_2 register masks
#define MPU9250_DISABLE_XA_MASK 0x20
#define MPU9250_DISABLE_YA_MASK 0x10
#define MPU9250_DISABLE_ZA_MASK 0x08
#define MPU9250_DISABLE_XG_MASK 0x04
#define MPU9250_DISABLE_YG_MASK 0x02
#define MPU9250_DISABLE_ZG_MASK 0x01
#define MPU9250_DISABLE_XYZA_MASK 0x38
#define MPU9250_DISABLE_XYZG_MASK 0x07
//Magnetometer register maps
#define MPU9250_MAG_ADDRESS 0x0C
#define MPU9250_MAG_WIA 0x00
#define MPU9250_MAG_INFO 0x01
#define MPU9250_MAG_ST1 0x02
#define MPU9250_MAG_XOUT_L 0x03
#define MPU9250_MAG_XOUT_H 0x04
#define MPU9250_MAG_YOUT_L 0x05
#define MPU9250_MAG_YOUT_H 0x06
#define MPU9250_MAG_ZOUT_L 0x07
#define MPU9250_MAG_ZOUT_H 0x08
#define MPU9250_MAG_ST2 0x09
#define MPU9250_MAG_CNTL 0x0A
#define MPU9250_MAG_RSV 0x0B //reserved mystery meat
#define MPU9250_MAG_ASTC 0x0C
#define MPU9250_MAG_TS1 0x0D
#define MPU9250_MAG_TS2 0x0E
#define MPU9250_MAG_I2CDIS 0x0F
#define MPU9250_MAG_ASAX 0x10
#define MPU9250_MAG_ASAY 0x11
#define MPU9250_MAG_ASAZ 0x12
//Magnetometer register masks
#define MPU9250_WIA_MASK 0x48
class MPU9250 {
public:
MPU9250();
void initialize();
uint8_t getAuxVDDIOLevel(void);
bool setAuxVDDIOLevel(const uint8_t level);
uint8_t getRate(void);
bool setRate(const uint8_t rate);
uint8_t getExternalFrameSync(void);
bool setExternalFrameSync(const uint8_t sync);
uint8_t getDLPFMode(void);
bool setDLPFMode(const uint8_t mode);
uint8_t getDHPFMode(void);
bool setDHPFMode(const uint8_t bandwidth);
uint8_t getFreefallDetectionThreshold(void);
bool setFreefallDetectionThreshold(const uint8_t threshold);
uint8_t getFreefallDetectionDuration(void);
bool setFreefallDetectionDuration(const uint8_t duration);
uint8_t getMotionDetectionThreshold(void);
bool setMotionDetectionThreshold(const uint8_t threshold);
uint8_t getMotionDetectionDuration(void);
bool setMotionDetectionDuration(const uint8_t duration);
uint8_t getZeroMotionDetectionThreshold(void);
bool setZeroMotionDetectionThreshold(const uint8_t threshold);
uint8_t getZeroMotionDetectionDuration(void);
bool setZeroMotionDetectionDuration(const uint8_t duration);
bool getSlave2FIFOEnabled(void);
bool setSlave2FIFOEnabled(const bool enabled);
bool getSlave1FIFOEnabled(void);
bool setSlave1FIFOEnabled(const bool enabled);
bool getSlave0FIFOEnabled(void);
bool setSlave0FIFOEnabled(const bool enabled);
bool getMultiMasterEnabled(void);
bool setMultiMasterEnabled(const bool enabled);
bool getWaitForExternalSensorEnabled(void);
bool setWaitForExternalSensorEnabled(const bool enabled);
bool getSlave3FIFOEnabled(void);
bool setSlave3FIFOEnabled(const bool enabled);
bool getSlaveReadWriteTransitionEnabled(void);
bool setSlaveReadWriteTransitionEnabled(const bool enabled);
uint8_t getMasterClockSpeed(void);
bool setMasterClockSpeed(const uint8_t speed);
uint8_t getSlaveAddress(uint8_t num);
bool setSlaveAddress(uint8_t num, uint8_t address);
uint8_t getSlaveRegister(uint8_t num);
bool setSlaveRegister(uint8_t num, uint8_t reg);
bool getSlaveEnabled(uint8_t num);
bool setSlaveEnabled(uint8_t num, const bool enabled);
bool getSlaveWordByteSwap(uint8_t num);
bool setSlaveWordByteSwap(uint8_t num, const bool enabled);
bool getSlaveWriteMode(uint8_t num);
bool setSlaveWriteMode(uint8_t num, const bool mode);
bool getSlaveWordGroupOffset(uint8_t num);
bool setSlaveWordGroupOffset(uint8_t num, const bool enabled);
uint8_t getSlaveDataLength(uint8_t num);
bool setSlaveDataLength(uint8_t num, const uint8_t length);
uint8_t getSlave4Address(void);
bool setSlave4Address(const uint8_t address);
uint8_t getSlave4Register(void);
bool setSlave4Register(const uint8_t reg);
bool setSlave4OutputByte(const uint8_t data);
bool getSlave4Enabled(void);
bool setSlave4Enabled(const bool enabled);
bool getSlave4InterruptEnabled(void);
bool setSlave4InterruptEnabled(const bool enabled);
bool getSlave4WriteMode(void);
bool setSlave4WriteMode(const bool mode);
uint8_t getSlave4MasterDelay(void);
bool setSlave4MasterDelay(const uint8_t delay);
uint8_t getSlate4InputByte(void);
bool getPassthroughStatus(void);
bool getSlave4IsDone(void);
bool getLostArbitration(void);
bool getSlave4Nack(void);
bool getSlave3Nack(void);
bool getSlave2Nack(void);
bool getSlave1Nack(void);
bool getSlave0Nack(void);
bool getInterruptMode(void);
bool setInterruptMode(const bool mode);
bool getInterruptDrive(void);
bool setInterruptDrive(const bool drive);
bool getInterruptLatch(void);
bool setInterruptLatch(const bool latch);
bool getInterruptLatchClear(void);
bool setInterruptLatchClear(const bool clear);
bool getFSyncInterruptLevel(void);
bool setFSyncInterruptLevel(const bool level);
bool getFSyncInterruptEnabled(void);
bool setFSyncInterruptEnabled(const bool enabled);
bool getI2CBypassEnabled(void);
bool setI2CBypassEnabled(const bool enabled);
bool getClockOutputEnabled(void);
bool setClockOutputEnabled(const bool enabled);
uint8_t getIntEnabled(void);
bool setIntEnabled(const uint8_t enabled);
bool getIntFreefallEnabled(void);
bool setIntFreefallEnabled(const bool enabled);
bool getIntMotionEnabled(void);
bool setIntMotionEnabled(const bool enabled);
bool getIntZeroMotionEnabled(void);
bool setIntZeroMotionEnabled(const bool enabled);
bool getIntFIFOBufferOverflowEnabled(void);
bool setIntFIFOBufferOverflowEnabled(const bool enabled);
bool getIntI2CMasterEnabled(void);
bool setIntI2CMasterEnabled(const bool enabled);
bool getIntDataReadyEnabled(void);
bool setIntDataReadyEnabled(const bool enabled);
uint8_t getIntStatus(void);
bool getIntFreefallStatus(void);
bool getIntMotionStatus(void);
bool getIntZeroMotionStatus(void);
bool getIntFIFOBufferOverflowStatus(void);
bool getIntI2CMasterStatus(void);
bool getIntDataReadyStatus(void);
uint8_t getExternalSensorByte(int position);
uint16_t getExternalSensorWord(int position);
uint32_t getExternalSensorDWord(int position);
bool getXNegMotionDetected(void);
bool getXPosMotionDetected(void);
bool getYNegMotionDetected(void);
bool getYPosMotionDetected(void);
bool getZNegMotionDetected(void);
bool getZPosMotionDetected(void);
bool getZeroMotionDetected(void);
bool setSlaveOutputByte(uint8_t num, const uint8_t data);
bool getExternalShadowDelayEnabled(void);
bool setExternalShadowDelayEnabled(const bool enabled);
bool getSlaveDelayEnabled(const uint8_t num);
bool setSlaveDelayEnabled(const uint8_t num, const bool enabled);
uint8_t getFreefallDetectionCounterDecrement(void);
bool setFreefallDetectionCounterDecrement(const uint8_t decrement);
uint8_t getMotionDetectionCounterDecrement(void);
void setMotionDetectionCounterDecrement(const uint8_t decrement);
bool getFIFOEnabled(void);
bool setFIFOEnabled(const bool enabled);
bool getI2CMasterModeEnabled(void);
bool setI2CMasterModeEnabled(const bool enabled);
bool switchSPIEnabled(const bool enabled);
bool resetFIFO(void);
bool resetI2CMaster(void);
bool resetSensors(void);
bool reset(void);
bool getSleepEnabled(void);
bool setSleepEnabled(const bool enabled);
bool getWakeCycleEnabled(void);
bool setWakeCycleEnabled(const bool enabled);
uint8_t getClockSource(void);
bool setClockSource(const uint8_t source);
uint8_t getWakeFrequency(void);
bool setWakeFrequency(const uint8_t frequency);
uint16_t getFIFOCount(void);
uint8_t getFIFOByte(void);
bool setFIFOByte(const uint8_t data);
uint8_t getOTPBankValid(void);
bool setOTPBankValid(const bool enabled);
int8_t getXFineGain(void);
bool setXFineGain(const int8_t gain);
int8_t getYFineGain(void);
bool setYFineGain(const int8_t gain);
int8_t getZFineGain(void);
bool setZFineGain(const int8_t gain);
bool getIntPLLReadyEnabled(void);
bool setIntPLLReadyEnabled(const bool enabled);
bool getIntDMPEnabled(void);
bool setIntDMPEnabled(const bool enabled);
bool getDMPInt5Status(void);
bool getDMPInt4Status(void);
bool getDMPInt3Status(void);
bool getDMPInt2Status(void);
bool getDMPInt1Status(void);
bool getDMPInt0Status(void);
bool getIntPLLReadyStatus(void);
bool getIntDMPStatus(void);
bool getDMPEnabled(void);
bool setDMPEnabled(const bool enabled);
bool resetDMP(void);
bool setMemoryBank(uint8_t bank, const bool prefetchEnabled, const bool userBank);
bool setMemoryStartAddress(const uint8_t address);
uint8_t readMemoryByte(void);
bool writeMemoryByte(uint8_t data);
void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address);
bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem);
bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify);
bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem);
bool writeProgDMPConfigurationSet(const uint8_t *data, const uint16_t dataSize);
uint8_t getDMPConfig1(void);
bool setDMPConfig1(uint8_t config);
uint8_t getDMPConfig2(void);
bool setDMPConfig2(uint8_t config);
uint8_t getDeviceID(void);
bool testConnection();
void selectClock(uint8_t clock_type);
//acceleration functions
bool getAccelXSelfTest(void);
bool setAccelXSelfTest(const uint8_t enabled);
bool getAccelYSelfTest(void);
bool setAccelYSelfTest(const uint8_t enabled);
bool getAccelZSelfTest(void);
bool setAccelZSelfTest(const uint8_t enabled);
uint8_t getFullScaleAccelRange(void);
bool setFullScaleAccelRange(const uint8_t range);
bool getAccelFIFOEnabled(void);
bool setAccelFIFOEnabled(const bool enabled);
int16_t getAccelerationX(void);
int16_t getAccelerationY(void);
int16_t getAccelerationZ(void);
void getAcceleration(int16_t* ax, int16_t* ay, int16_t* az);
bool resetAccelerometerPath(void);
uint8_t getAccelerometerPowerOnDelay(void);
bool setAccelerometerPowerOnDelay(const uint8_t delay);
int16_t getXAccelOffset(void);
bool setXAccelOffset(const int16_t offset);
int16_t getYAccelOffset(void);
bool setYAccelOffset(const int16_t offset);
int16_t getZAccelOffset(void);
bool setZAccelOffset(const int16_t offset);
bool getStandbyXAccelEnabled(void);
bool setStandbyXAccelEnabled(const bool enabled);
bool getStandbyYAccelEnabled(void);
bool setStandbyYAccelEnabled(const bool enabled);
bool getStandbyZAccelEnabled(void);
bool setStandbyZAccelEnabled(const bool enabled);
bool enableAccelerometerAxis(const uint8_t axis);
bool disableAccelerometerAxis(const uint8_t axis);
bool enableAccelerometer(void);
bool disableAccelerometer(void);
void getAccelerometerTestData(uint8_t ax, uint8_t ay, uint8_t az);
bool accelerometerXIsEnabled(void);
bool accelerometerYIsEnabled(void);
bool accelerometerZIsEnabled(void);
//gyroscope functions
uint8_t getFullScaleGyroRange(void);
bool setFullScaleGyroRange(const uint8_t range);
bool getXGyroFIFOEnabled(void);
bool setXGyroFIFOEnabled(const bool enabled);
bool getYGyroFIFOEnabled(void);
bool setYGyroFIFOEnabled(const bool enabled);
bool getZGyroFIFOEnabled(void);
bool setZGyroFIFOEnabled(const bool enabled);
bool resetGyroscopePath(void);
bool getStandbyXGyroEnabled(void);
bool setStandbyXGyroEnabled(const bool enabled);
bool getStandbyYGyroEnabled(void);
bool setStandbyYGyroEnabled(const bool enabled);
bool getStandbyZGyroEnabled(void);
bool setStandbyZGyroEnabled(const bool enabled);
int16_t getXGyroOffsetUser(void);
void setXGyroOffsetUser(const int16_t offset);
int16_t getYGyroOffsetUser(void);
void setYGyroOffsetUser(const int16_t offset);
int16_t getZGyroOffsetUser(void);
void setZGyroOffsetUser(const int16_t offset);
int16_t getXGyroOffset(void);
bool setXGyroOffset(const int16_t offset);
int16_t getYGyroOffset(void);
bool setYGyroOffset(const int16_t offset);
int16_t getZGyroOffset(void);
bool setZGyroOffset(const int16_t offset);
int16_t getRotationX(void);
int16_t getRotationY(void);
int16_t getRotationZ(void);
void getRotation(int16_t* gx, int16_t* gy, int16_t* gz);
bool enableGyroAxis(const uint8_t axis);
bool disableGyroAxis(const uint8_t axis);
bool enableGyro(void);
bool disableGyro(void);
void getGyroTestData(uint8_t gx, uint8_t gy, uint8_t gz);
bool gyroXIsEnabled(void);
bool gyroYIsEnabled(void);
bool gyroZIsEnabled(void);
void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
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);
//temperature functions
bool getTempFIFOEnabled(void);
bool setTempFIFOEnabled(const bool enabled);
bool enableTemperature(void);
bool disableTemperature(void);
bool temperatureIsEnabled(void);
int16_t getTemperature(void);
bool resetTemperaturePath(void);
private:
bool writeRegister(const uint8_t register_addr, const uint8_t value);
bool writeMagRegister(const uint8_t register_addr, const uint8_t value);
bool writeRegisters(const uint8_t msb_register, const uint8_t msb_value, const uint8_t lsb_register, const uint8_t lsb_value);
bool writeMaskedRegister(const uint8_t register_addr, const uint8_t mask, const uint8_t value);
uint8_t readRegister(const uint8_t register_addr);
uint8_t readMagRegister(const uint8_t register_addr);
uint16_t readRegisters(const uint8_t msb_register, const uint8_t lsb_register);
uint8_t readMaskedRegister(const uint8_t register_addr, const uint8_t mask);
uint8_t _address;
uint8_t _mag_address;
uint8_t _whoami;
int16_t _temperature;
};
#endif /* _MPU9250_H_ */