driver_mpu9250.h

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#ifndef DRIVER_MPU9250_H
#define DRIVER_MPU9250_H
 
#include <stdio.h>
#include <stdint.h>
#include <string.h>
 
#ifdef __cplusplus
extern "C"{
#endif



typedef enum
{
    MPU9250_INTERFACE_IIC = 0x00,        
    MPU9250_INTERFACE_SPI = 0x01,        
} mpu9250_interface_t;

typedef enum  
{
    MPU9250_ADDRESS_AD0_LOW  = 0xD0,        
    MPU9250_ADDRESS_AD0_HIGH = 0xD2,        
} mpu9250_address_t;

typedef enum  
{
    MPU9250_BOOL_FALSE = 0x00,        
    MPU9250_BOOL_TRUE  = 0x01,        
} mpu9250_bool_t;

typedef enum  
{
    MPU9250_SOURCE_ACC_X  = 0x05,        
    MPU9250_SOURCE_ACC_Y  = 0x04,        
    MPU9250_SOURCE_ACC_Z  = 0x03,        
    MPU9250_SOURCE_GYRO_X = 0x02,        
    MPU9250_SOURCE_GYRO_Y = 0x01,        
    MPU9250_SOURCE_GYRO_Z = 0x00,        
} mpu9250_source_t;

typedef enum  
{
    MPU9250_CLOCK_SOURCE_INTERNAL_20MHZ = 0x00,        
    MPU9250_CLOCK_SOURCE_PLL            = 0x01,        
    MPU9250_CLOCK_SOURCE_STOP_CLOCK     = 0x07,        
} mpu9250_clock_source_t;

typedef enum  
{
    MPU9250_SIGNAL_PATH_RESET_TEMP  = 0x00,        
    MPU9250_SIGNAL_PATH_RESET_ACCEL = 0x01,        
    MPU9250_SIGNAL_PATH_RESET_GYRO  = 0x02,        
} mpu9250_signal_path_reset_t;

typedef enum  
{
    MPU9250_EXTERN_SYNC_INPUT_DISABLED = 0x00,        
    MPU9250_EXTERN_SYNC_TEMP_OUT_L     = 0x01,        
    MPU9250_EXTERN_SYNC_GYRO_XOUT_L    = 0x02,        
    MPU9250_EXTERN_SYNC_GYRO_YOUT_L    = 0x03,        
    MPU9250_EXTERN_SYNC_GYRO_ZOUT_L    = 0x04,        
    MPU9250_EXTERN_SYNC_ACCEL_XOUT_L   = 0x05,        
    MPU9250_EXTERN_SYNC_ACCEL_YOUT_L   = 0x06,        
    MPU9250_EXTERN_SYNC_ACCEL_ZOUT_L   = 0x07,        
} mpu9250_extern_sync_t;

typedef enum                                 
{                                            
    MPU9250_LOW_PASS_FILTER_0 = 0x00,        
    MPU9250_LOW_PASS_FILTER_1 = 0x01,        
    MPU9250_LOW_PASS_FILTER_2 = 0x02,        
    MPU9250_LOW_PASS_FILTER_3 = 0x03,        
    MPU9250_LOW_PASS_FILTER_4 = 0x04,        
    MPU9250_LOW_PASS_FILTER_5 = 0x05,        
    MPU9250_LOW_PASS_FILTER_6 = 0x06,        
    MPU9250_LOW_PASS_FILTER_7 = 0x07,        
} mpu9250_low_pass_filter_t;

typedef enum                                               
{                                                          
    MPU9250_ACCELEROMETER_LOW_PASS_FILTER_0 = 0x00,        
    MPU9250_ACCELEROMETER_LOW_PASS_FILTER_1 = 0x01,        
    MPU9250_ACCELEROMETER_LOW_PASS_FILTER_2 = 0x02,        
    MPU9250_ACCELEROMETER_LOW_PASS_FILTER_3 = 0x03,        
    MPU9250_ACCELEROMETER_LOW_PASS_FILTER_4 = 0x04,        
    MPU9250_ACCELEROMETER_LOW_PASS_FILTER_5 = 0x05,        
    MPU9250_ACCELEROMETER_LOW_PASS_FILTER_6 = 0x06,        
    MPU9250_ACCELEROMETER_LOW_PASS_FILTER_7 = 0x07,        
} mpu9250_accelerometer_low_pass_filter_t;

typedef enum  
{
    MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_0P24  = 0x00,        
    MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_0P49  = 0x01,        
    MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_0P98  = 0x02,        
    MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_1P95  = 0x03,        
    MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_3P91  = 0x04,        
    MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_7P81  = 0x05,        
    MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_15P63 = 0x06,        
    MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_31P25 = 0x07,        
    MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_62P50 = 0x08,        
    MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_125   = 0x09,        
    MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_250   = 0x0A,        
    MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_500   = 0x0B,        
} mpu9250_low_power_accel_output_rate_t;

typedef enum  
{
    MPU9250_AXIS_Z = 0x05,        
    MPU9250_AXIS_Y = 0x06,        
    MPU9250_AXIS_X = 0x07,        
} mpu9250_axis_t;

typedef enum  
{
    MPU9250_GYROSCOPE_RANGE_250DPS  = 0x00,        
    MPU9250_GYROSCOPE_RANGE_500DPS  = 0x01,        
    MPU9250_GYROSCOPE_RANGE_1000DPS = 0x02,        
    MPU9250_GYROSCOPE_RANGE_2000DPS = 0x03,        
} mpu9250_gyroscope_range_t;

typedef enum  
{
    MPU9250_ACCELEROMETER_RANGE_2G  = 0x00,        
    MPU9250_ACCELEROMETER_RANGE_4G  = 0x01,        
    MPU9250_ACCELEROMETER_RANGE_8G  = 0x02,        
    MPU9250_ACCELEROMETER_RANGE_16G = 0x03,        
} mpu9250_accelerometer_range_t;

typedef enum  
{
    MPU9250_FIFO_TEMP  = 0x07,        
    MPU9250_FIFO_XG    = 0x06,        
    MPU9250_FIFO_YG    = 0x05,        
    MPU9250_FIFO_ZG    = 0x04,        
    MPU9250_FIFO_ACCEL = 0x03,        
} mpu9250_fifo_t;

typedef enum  
{
    MPU9250_FIFO_MODE_STREAM = 0x00,        
    MPU9250_FIFO_MODE_NORMAL = 0x01,        
} mpu9250_fifo_mode;

typedef enum  
{
    MPU9250_PIN_LEVEL_HIGH = 0x00,        
    MPU9250_PIN_LEVEL_LOW  = 0x01,        
} mpu9250_pin_level_t;

typedef enum  
{
    MPU9250_PIN_TYPE_PUSH_PULL  = 0x00,        
    MPU9250_PIN_TYPE_OPEN_DRAIN = 0x01,        
} mpu9250_pin_type_t;

typedef enum  
{
    MPU9250_INTERRUPT_MOTION        = 6,        
    MPU9250_INTERRUPT_FIFO_OVERFLOW = 4,        
    MPU9250_INTERRUPT_FSYNC_INT     = 3,        
    MPU9250_INTERRUPT_DMP           = 1,        
    MPU9250_INTERRUPT_DATA_READY    = 0,        
} mpu9250_interrupt_t;

typedef enum  
{
    MPU9250_IIC_SLAVE_0 = 0x00,        
    MPU9250_IIC_SLAVE_1 = 0x01,        
    MPU9250_IIC_SLAVE_2 = 0x02,        
    MPU9250_IIC_SLAVE_3 = 0x03,        
    MPU9250_IIC_SLAVE_4 = 0x04,        
} mpu9250_iic_slave_t;

typedef enum  
{
    MPU9250_IIC_CLOCK_348_KHZ = 0x00,        
    MPU9250_IIC_CLOCK_333_KHZ = 0x01,        
    MPU9250_IIC_CLOCK_320_KHZ = 0x02,        
    MPU9250_IIC_CLOCK_308_KHZ = 0x03,        
    MPU9250_IIC_CLOCK_296_KHZ = 0x04,        
    MPU9250_IIC_CLOCK_286_KHZ = 0x05,        
    MPU9250_IIC_CLOCK_276_KHZ = 0x06,        
    MPU9250_IIC_CLOCK_267_KHZ = 0x07,        
    MPU9250_IIC_CLOCK_258_KHZ = 0x08,        
    MPU9250_IIC_CLOCK_500_KHZ = 0x09,        
    MPU9250_IIC_CLOCK_471_KHZ = 0x0A,        
    MPU9250_IIC_CLOCK_444_KHZ = 0x0B,        
    MPU9250_IIC_CLOCK_421_KHZ = 0x0C,        
    MPU9250_IIC_CLOCK_400_KHZ = 0x0D,        
    MPU9250_IIC_CLOCK_381_KHZ = 0x0E,        
    MPU9250_IIC_CLOCK_364_KHZ = 0x0F,        
} mpu9250_iic_clock_t;

typedef enum  
{
    MPU9250_IIC_READ_MODE_RESTART        = 0x00,        
    MPU9250_IIC_READ_MODE_STOP_AND_START = 0x01,        
} mpu9250_iic_read_mode_t;

typedef enum  
{
    MPU9250_IIC_MODE_WRITE = 0x00,        
    MPU9250_IIC_MODE_READ  = 0x01,        
} mpu9250_iic_mode_t;

typedef enum  
{
    MPU9250_IIC_TRANSACTION_MODE_DATA     = 0x00,        
    MPU9250_IIC_TRANSACTION_MODE_REG_DATA = 0x01,        
} mpu9250_iic_transaction_mode_t;

typedef enum  
{
    MPU9250_IIC4_TRANSACTION_MODE_DATA = 0x00,        
    MPU9250_IIC4_TRANSACTION_MODE_REG  = 0x01,        
} mpu9250_iic4_transaction_mode_t;

typedef enum  
{
    MPU9250_IIC_GROUP_ORDER_EVEN = 0x00,        
    MPU9250_IIC_GROUP_ORDER_ODD  = 0x01,        
} mpu9250_iic_group_order_t;

typedef enum  
{
    MPU9250_IIC_STATUS_PASS_THROUGH  = 0x80,        
    MPU9250_IIC_STATUS_IIC_SLV4_DONE = 0x40,        
    MPU9250_IIC_STATUS_IIC_LOST_ARB  = 0x20,        
    MPU9250_IIC_STATUS_IIC_SLV4_NACK = 0x10,        
    MPU9250_IIC_STATUS_IIC_SLV3_NACK = 0x08,        
    MPU9250_IIC_STATUS_IIC_SLV2_NACK = 0x04,        
    MPU9250_IIC_STATUS_IIC_SLV1_NACK = 0x02,        
    MPU9250_IIC_STATUS_IIC_SLV0_NACK = 0x01,        
} mpu9250_iic_status_t;

typedef enum  
{
    MPU9250_IIC_DELAY_ES_SHADOW = 7,        
    MPU9250_IIC_DELAY_SLAVE_4   = 4,        
    MPU9250_IIC_DELAY_SLAVE_3   = 3,        
    MPU9250_IIC_DELAY_SLAVE_2   = 2,        
    MPU9250_IIC_DELAY_SLAVE_1   = 1,        
    MPU9250_IIC_DELAY_SLAVE_0   = 0,        
} mpu9250_iic_delay_t;



typedef enum
{
    MPU9250_MAGNETOMETER_STATUS1_DRDY = (1 << 0),        
    MPU9250_MAGNETOMETER_STATUS1_DOR  = (1 << 1),        
} mpu9250_magnetometer_status1_t;

typedef enum
{
    MPU9250_MAGNETOMETER_STATUS2_HOFL = (1 << 3),        
    MPU9250_MAGNETOMETER_STATUS2_BITM = (1 << 4),        
} mpu9250_magnetometer_status2_t;

typedef enum
{
    MPU9250_MAGNETOMETER_MODE_POWER_DOWN  = 0x00,        
    MPU9250_MAGNETOMETER_MODE_SINGLE      = 0x01,        
    MPU9250_MAGNETOMETER_MODE_CONTINUOUS1 = 0x02,        
    MPU9250_MAGNETOMETER_MODE_CONTINUOUS2 = 0x06,        
    MPU9250_MAGNETOMETER_MODE_EXT_TRIGGER = 0x04,        
    MPU9250_MAGNETOMETER_MODE_SELF_TEST   = 0x08,        
    MPU9250_MAGNETOMETER_MODE_FUSE_ROM    = 0x0F,        
} mpu9250_magnetometer_mode_t;

typedef enum
{
    MPU9250_MAGNETOMETER_BITS_14 = 0x00,        
    MPU9250_MAGNETOMETER_BITS_16 = 0x01,        
} mpu9250_magnetometer_bits_t;



typedef enum  
{
    MPU9250_DMP_INTERRUPT_MODE_CONTINUOUS = 0x00,        
    MPU9250_DMP_INTERRUPT_MODE_GESTURE    = 0x01,        
} mpu9250_dmp_interrupt_mode_t;

typedef enum  
{
    MPU9250_DMP_FEATURE_TAP            = 0x001,        
    MPU9250_DMP_FEATURE_ORIENT         = 0x002,        
    MPU9250_DMP_FEATURE_3X_QUAT        = 0x004,        
    MPU9250_DMP_FEATURE_PEDOMETER      = 0x008,        
    MPU9250_DMP_FEATURE_6X_QUAT        = 0x010,        
    MPU9250_DMP_FEATURE_GYRO_CAL       = 0x020,        
    MPU9250_DMP_FEATURE_SEND_RAW_ACCEL = 0x040,        
    MPU9250_DMP_FEATURE_SEND_RAW_GYRO  = 0x080,        
    MPU9250_DMP_FEATURE_SEND_CAL_GYRO  = 0x100,        
} mpu9250_dmp_feature_t;

typedef enum  
{
    MPU9250_DMP_TAP_X_UP   = 0x01,        
    MPU9250_DMP_TAP_X_DOWN = 0x02,        
    MPU9250_DMP_TAP_Y_UP   = 0x03,        
    MPU9250_DMP_TAP_Y_DOWN = 0x04,        
    MPU9250_DMP_TAP_Z_UP   = 0x05,        
    MPU9250_DMP_TAP_Z_DOWN = 0x06,        
} mpu9250_dmp_tap_t;

typedef enum  
{
    MPU9250_DMP_ORIENT_PORTRAIT          = 0x00,        
    MPU9250_DMP_ORIENT_LANDSCAPE         = 0x01,        
    MPU9250_DMP_ORIENT_REVERSE_PORTRAIT  = 0x02,        
    MPU9250_DMP_ORIENT_REVERSE_LANDSCAPE = 0x03,        
} mpu9250_dmp_orient_t;



typedef struct mpu9250_handle_s
{
    uint8_t iic_addr;                                                                   
    uint8_t (*iic_init)(void);                                                          
    uint8_t (*iic_deinit)(void);                                                        
    uint8_t (*iic_read)(uint8_t addr, uint8_t reg, uint8_t *buf, uint16_t len);         
    uint8_t (*iic_write)(uint8_t addr, uint8_t reg, uint8_t *buf, uint16_t len);        
    uint8_t (*spi_init)(void);                                                          
    uint8_t (*spi_deinit)(void);                                                        
    uint8_t (*spi_read)(uint8_t reg, uint8_t *buf, uint16_t len);                       
    uint8_t (*spi_write)(uint8_t reg, uint8_t *buf, uint16_t len);                      
    void (*delay_ms)(uint32_t ms);                                                      
    void (*debug_print)(const char *const fmt, ...);                                    
    void (*receive_callback)(uint8_t type);                                             
    void (*dmp_tap_callback)(uint8_t count, uint8_t direction);                         
    void (*dmp_orient_callback)(uint8_t orientation);                                   
    uint8_t inited;                                                                     
    uint8_t mag_inited;                                                                 
    uint8_t mag_asa[3];                                                                 
    uint8_t iic_spi;                                                                    
    uint8_t dmp_inited;                                                                 
    uint16_t orient;                                                                    
    uint16_t mask;                                                                      
    uint8_t buf[1024];                                                                  
} mpu9250_handle_t;

typedef struct mpu9250_info_s
{
    char chip_name[32];                
    char manufacturer_name[32];        
    char interface[8];                 
    float supply_voltage_min_v;        
    float supply_voltage_max_v;        
    float max_current_ma;              
    float temperature_min;             
    float temperature_max;             
    uint32_t driver_version;           
} mpu9250_info_t;



#define DRIVER_MPU9250_LINK_INIT(HANDLE, STRUCTURE)         memset(HANDLE, 0, sizeof(STRUCTURE))

#define DRIVER_MPU9250_LINK_IIC_INIT(HANDLE, FUC)           (HANDLE)->iic_init = FUC

#define DRIVER_MPU9250_LINK_IIC_DEINIT(HANDLE, FUC)         (HANDLE)->iic_deinit = FUC

#define DRIVER_MPU9250_LINK_IIC_READ(HANDLE, FUC)           (HANDLE)->iic_read = FUC

#define DRIVER_MPU9250_LINK_IIC_WRITE(HANDLE, FUC)          (HANDLE)->iic_write = FUC

#define DRIVER_MPU9250_LINK_SPI_INIT(HANDLE, FUC)           (HANDLE)->spi_init = FUC

#define DRIVER_MPU9250_LINK_SPI_DEINIT(HANDLE, FUC)         (HANDLE)->spi_deinit = FUC

#define DRIVER_MPU9250_LINK_SPI_READ(HANDLE, FUC)           (HANDLE)->spi_read = FUC

#define DRIVER_MPU9250_LINK_SPI_WRITE(HANDLE, FUC)          (HANDLE)->spi_write = FUC

#define DRIVER_MPU9250_LINK_DELAY_MS(HANDLE, FUC)           (HANDLE)->delay_ms = FUC

#define DRIVER_MPU9250_LINK_DEBUG_PRINT(HANDLE, FUC)        (HANDLE)->debug_print = FUC

#define DRIVER_MPU9250_LINK_RECEIVE_CALLBACK(HANDLE, FUC)   (HANDLE)->receive_callback = FUC



uint8_t mpu9250_info(mpu9250_info_t *info);

uint8_t mpu9250_set_interface(mpu9250_handle_t *handle, mpu9250_interface_t interface);

uint8_t mpu9250_get_interface(mpu9250_handle_t *handle, mpu9250_interface_t *interface);

uint8_t mpu9250_set_addr_pin(mpu9250_handle_t *handle, mpu9250_address_t addr_pin);

uint8_t mpu9250_get_addr_pin(mpu9250_handle_t *handle, mpu9250_address_t *addr_pin);

uint8_t mpu9250_irq_handler(mpu9250_handle_t *handle);

uint8_t mpu9250_init(mpu9250_handle_t *handle);

uint8_t mpu9250_deinit(mpu9250_handle_t *handle);

uint8_t mpu9250_read(mpu9250_handle_t *handle,
                     int16_t (*accel_raw)[3], float (*accel_g)[3],
                     int16_t (*gyro_raw)[3], float (*gyro_dps)[3],
                     int16_t (*mag_raw)[3], float (*mag_ut)[3],
                     uint16_t *len
                    );

uint8_t mpu9250_read_temperature(mpu9250_handle_t *handle, int16_t (*raw), float *degrees);

uint8_t mpu9250_set_fifo(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_get_fifo(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_force_fifo_reset(mpu9250_handle_t *handle);

uint8_t mpu9250_set_iic_master(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_get_iic_master(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_set_disable_iic_slave(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_get_disable_iic_slave(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_fifo_reset(mpu9250_handle_t *handle);

uint8_t mpu9250_get_fifo_reset(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_iic_master_reset(mpu9250_handle_t *handle);

uint8_t mpu9250_get_iic_master_reset(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_sensor_reset(mpu9250_handle_t *handle);

uint8_t mpu9250_get_sensor_reset(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_device_reset(mpu9250_handle_t *handle);

uint8_t mpu9250_get_device_reset(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_set_clock_source(mpu9250_handle_t *handle, mpu9250_clock_source_t clock_source);

uint8_t mpu9250_get_clock_source(mpu9250_handle_t *handle, mpu9250_clock_source_t *clock_source);

uint8_t mpu9250_set_ptat(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_get_ptat(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_set_cycle_wake_up(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_get_cycle_wake_up(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_set_sleep(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_get_sleep(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_set_gyro_standby(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_get_gyro_standby(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_set_standby_mode(mpu9250_handle_t *handle, mpu9250_source_t source, mpu9250_bool_t enable);

uint8_t mpu9250_get_standby_mode(mpu9250_handle_t *handle, mpu9250_source_t source, mpu9250_bool_t *enable);

uint8_t mpu9250_get_fifo_count(mpu9250_handle_t *handle, uint16_t* count);

uint8_t mpu9250_fifo_get(mpu9250_handle_t *handle, uint8_t *buf, uint16_t len);

uint8_t mpu9250_fifo_set(mpu9250_handle_t *handle, uint8_t *buf, uint16_t len);

uint8_t mpu9250_set_signal_path_reset(mpu9250_handle_t *handle, mpu9250_signal_path_reset_t path);

uint8_t mpu9250_set_sample_rate_divider(mpu9250_handle_t *handle, uint8_t d);

uint8_t mpu9250_get_sample_rate_divider(mpu9250_handle_t *handle, uint8_t *d);

uint8_t mpu9250_set_extern_sync(mpu9250_handle_t *handle, mpu9250_extern_sync_t sync);

uint8_t mpu9250_get_extern_sync(mpu9250_handle_t *handle, mpu9250_extern_sync_t *sync);

uint8_t mpu9250_set_low_pass_filter(mpu9250_handle_t *handle, mpu9250_low_pass_filter_t filter);

uint8_t mpu9250_get_low_pass_filter(mpu9250_handle_t *handle, mpu9250_low_pass_filter_t *filter);

uint8_t mpu9250_set_fifo_mode(mpu9250_handle_t *handle, mpu9250_fifo_mode mode);

uint8_t mpu9250_get_fifo_mode(mpu9250_handle_t *handle, mpu9250_fifo_mode *mode);

uint8_t mpu9250_set_gyroscope_test(mpu9250_handle_t *handle, mpu9250_axis_t axis, mpu9250_bool_t enable);

uint8_t mpu9250_get_gyroscope_test(mpu9250_handle_t *handle, mpu9250_axis_t axis, mpu9250_bool_t *enable);

uint8_t mpu9250_set_gyroscope_range(mpu9250_handle_t *handle, mpu9250_gyroscope_range_t range);

uint8_t mpu9250_get_gyroscope_range(mpu9250_handle_t *handle, mpu9250_gyroscope_range_t *range);

uint8_t mpu9250_set_gyroscope_choice(mpu9250_handle_t *handle, uint8_t choice);

uint8_t mpu9250_get_gyroscope_choice(mpu9250_handle_t *handle, uint8_t *choice);

uint8_t mpu9250_set_accelerometer_test(mpu9250_handle_t *handle, mpu9250_axis_t axis, mpu9250_bool_t enable);

uint8_t mpu9250_get_accelerometer_test(mpu9250_handle_t *handle, mpu9250_axis_t axis, mpu9250_bool_t *enable);

uint8_t mpu9250_set_accelerometer_range(mpu9250_handle_t *handle, mpu9250_accelerometer_range_t range);

uint8_t mpu9250_get_accelerometer_range(mpu9250_handle_t *handle, mpu9250_accelerometer_range_t *range);

uint8_t mpu9250_set_fifo_1024kb(mpu9250_handle_t *handle);

uint8_t mpu9250_set_accelerometer_choice(mpu9250_handle_t *handle, uint8_t choice);

uint8_t mpu9250_get_accelerometer_choice(mpu9250_handle_t *handle, uint8_t *choice);

uint8_t mpu9250_set_accelerometer_low_pass_filter(mpu9250_handle_t *handle, mpu9250_accelerometer_low_pass_filter_t filter);

uint8_t mpu9250_get_accelerometer_low_pass_filter(mpu9250_handle_t *handle, mpu9250_accelerometer_low_pass_filter_t *filter);

uint8_t mpu9250_set_low_power_accel_output_rate(mpu9250_handle_t *handle, mpu9250_low_power_accel_output_rate_t rate);

uint8_t mpu9250_get_low_power_accel_output_rate(mpu9250_handle_t *handle, mpu9250_low_power_accel_output_rate_t *rate);

uint8_t mpu9250_set_wake_on_motion(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_get_wake_on_motion(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_set_accel_compare_with_previous_sample(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_get_accel_compare_with_previous_sample(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_set_accelerometer_x_offset(mpu9250_handle_t *handle, int16_t offset);

uint8_t mpu9250_get_accelerometer_x_offset(mpu9250_handle_t *handle, int16_t *offset);

uint8_t mpu9250_set_accelerometer_y_offset(mpu9250_handle_t *handle, int16_t offset);

uint8_t mpu9250_get_accelerometer_y_offset(mpu9250_handle_t *handle, int16_t *offset);

uint8_t mpu9250_set_accelerometer_z_offset(mpu9250_handle_t *handle, int16_t offset);

uint8_t mpu9250_get_accelerometer_z_offset(mpu9250_handle_t *handle, int16_t *offset);

uint8_t mpu9250_accelerometer_offset_convert_to_register(mpu9250_handle_t *handle, float mg, int16_t *reg);

uint8_t mpu9250_accelerometer_offset_convert_to_data(mpu9250_handle_t *handle, int16_t reg, float *mg);

uint8_t mpu9250_set_gyro_x_offset(mpu9250_handle_t *handle, int16_t offset);

uint8_t mpu9250_get_gyro_x_offset(mpu9250_handle_t *handle, int16_t *offset);

uint8_t mpu9250_set_gyro_y_offset(mpu9250_handle_t *handle, int16_t offset);

uint8_t mpu9250_get_gyro_y_offset(mpu9250_handle_t *handle, int16_t *offset);

uint8_t mpu9250_set_gyro_z_offset(mpu9250_handle_t *handle, int16_t offset);

uint8_t mpu9250_get_gyro_z_offset(mpu9250_handle_t *handle, int16_t *offset);

uint8_t mpu9250_gyro_offset_convert_to_register(mpu9250_handle_t *handle, float dps, int16_t *reg);

uint8_t mpu9250_gyro_offset_convert_to_data(mpu9250_handle_t *handle, int16_t reg, float *dps);

uint8_t mpu9250_set_fifo_enable(mpu9250_handle_t *handle, mpu9250_fifo_t fifo, mpu9250_bool_t enable);

uint8_t mpu9250_get_fifo_enable(mpu9250_handle_t *handle, mpu9250_fifo_t fifo, mpu9250_bool_t *enable);

uint8_t mpu9250_set_interrupt_level(mpu9250_handle_t *handle, mpu9250_pin_level_t level);

uint8_t mpu9250_get_interrupt_level(mpu9250_handle_t *handle, mpu9250_pin_level_t *level);

uint8_t mpu9250_set_interrupt_pin_type(mpu9250_handle_t *handle, mpu9250_pin_type_t type);

uint8_t mpu9250_get_interrupt_pin_type(mpu9250_handle_t *handle, mpu9250_pin_type_t *type);

uint8_t mpu9250_set_interrupt_latch(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_get_interrupt_latch(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_set_interrupt_read_clear(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_get_interrupt_read_clear(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_set_fsync_interrupt_level(mpu9250_handle_t *handle, mpu9250_pin_level_t level);

uint8_t mpu9250_get_fsync_interrupt_level(mpu9250_handle_t *handle, mpu9250_pin_level_t *level);

uint8_t mpu9250_set_fsync_interrupt(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_get_fsync_interrupt(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_set_iic_bypass(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_get_iic_bypass(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_set_interrupt(mpu9250_handle_t *handle, mpu9250_interrupt_t type, mpu9250_bool_t enable);

uint8_t mpu9250_get_interrupt(mpu9250_handle_t *handle, mpu9250_interrupt_t type, mpu9250_bool_t *enable);

uint8_t mpu9250_get_interrupt_status(mpu9250_handle_t *handle, uint8_t *status);

uint8_t mpu9250_set_gyroscope_x_test(mpu9250_handle_t *handle, uint8_t data);

uint8_t mpu9250_get_gyroscope_x_test(mpu9250_handle_t *handle, uint8_t *data);

uint8_t mpu9250_set_gyroscope_y_test(mpu9250_handle_t *handle, uint8_t data);

uint8_t mpu9250_get_gyroscope_y_test(mpu9250_handle_t *handle, uint8_t *data);

uint8_t mpu9250_set_gyroscope_z_test(mpu9250_handle_t *handle, uint8_t data);

uint8_t mpu9250_get_gyroscope_z_test(mpu9250_handle_t *handle, uint8_t *data);

uint8_t mpu9250_set_accelerometer_x_test(mpu9250_handle_t *handle, uint8_t data);

uint8_t mpu9250_get_accelerometer_x_test(mpu9250_handle_t *handle, uint8_t *data);

uint8_t mpu9250_set_accelerometer_y_test(mpu9250_handle_t *handle, uint8_t data);

uint8_t mpu9250_get_accelerometer_y_test(mpu9250_handle_t *handle, uint8_t *data);

uint8_t mpu9250_set_accelerometer_z_test(mpu9250_handle_t *handle, uint8_t data);

uint8_t mpu9250_get_accelerometer_z_test(mpu9250_handle_t *handle, uint8_t *data);

uint8_t mpu9250_set_motion_threshold(mpu9250_handle_t *handle, uint8_t threshold);

uint8_t mpu9250_get_motion_threshold(mpu9250_handle_t *handle, uint8_t *threshold);

uint8_t mpu9250_motion_threshold_convert_to_register(mpu9250_handle_t *handle, float mg, uint8_t *reg);

uint8_t mpu9250_motion_threshold_convert_to_data(mpu9250_handle_t *handle, uint8_t reg, float *mg);

uint8_t mpu9250_self_test(mpu9250_handle_t *handle, int32_t gyro_offset_raw[3], int32_t accel_offset_raw[3]);

uint8_t mpu9250_set_iic_clock(mpu9250_handle_t *handle, mpu9250_iic_clock_t clk);

uint8_t mpu9250_get_iic_clock(mpu9250_handle_t *handle, mpu9250_iic_clock_t *clk);

uint8_t mpu9250_set_iic_multi_master(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_get_iic_multi_master(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_set_iic_wait_for_external_sensor(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_get_iic_wait_for_external_sensor(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_set_iic_read_mode(mpu9250_handle_t *handle, mpu9250_iic_read_mode_t mode);

uint8_t mpu9250_get_iic_read_mode(mpu9250_handle_t *handle, mpu9250_iic_read_mode_t *mode);

uint8_t mpu9250_set_iic_fifo_enable(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_bool_t enable);

uint8_t mpu9250_get_iic_fifo_enable(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_bool_t *enable);

uint8_t mpu9250_set_iic_mode(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_iic_mode_t mode);

uint8_t mpu9250_get_iic_mode(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_iic_mode_t *mode);

uint8_t mpu9250_set_iic_address(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, uint8_t addr_7bit);

uint8_t mpu9250_get_iic_address(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, uint8_t *addr_7bit);

uint8_t mpu9250_set_iic_register(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, uint8_t reg);

uint8_t mpu9250_get_iic_register(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, uint8_t *reg);

uint8_t mpu9250_set_iic_data_out(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, uint8_t data);

uint8_t mpu9250_get_iic_data_out(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, uint8_t *data);

uint8_t mpu9250_set_iic_enable(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_bool_t enable);

uint8_t mpu9250_get_iic_enable(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_bool_t *enable);

uint8_t mpu9250_set_iic_byte_swap(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_bool_t enable);

uint8_t mpu9250_get_iic_byte_swap(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_bool_t *enable);

uint8_t mpu9250_set_iic_transaction_mode(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_iic_transaction_mode_t mode);

uint8_t mpu9250_get_iic_transaction_mode(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_iic_transaction_mode_t *mode);

uint8_t mpu9250_set_iic_group_order(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_iic_group_order_t order);

uint8_t mpu9250_get_iic_group_order(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_iic_group_order_t *order);

uint8_t mpu9250_set_iic_transferred_len(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, uint8_t len);

uint8_t mpu9250_get_iic_transferred_len(mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, uint8_t *len);

uint8_t mpu9250_get_iic_status(mpu9250_handle_t *handle, uint8_t *status);

uint8_t mpu9250_set_iic_delay_enable(mpu9250_handle_t *handle, mpu9250_iic_delay_t delay, mpu9250_bool_t enable);

uint8_t mpu9250_get_iic_delay_enable(mpu9250_handle_t *handle, mpu9250_iic_delay_t delay, mpu9250_bool_t *enable);

uint8_t mpu9250_set_iic4_enable(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_get_iic4_enable(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_set_iic4_interrupt(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_get_iic4_interrupt(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_set_iic4_transaction_mode(mpu9250_handle_t *handle, mpu9250_iic4_transaction_mode_t mode);

uint8_t mpu9250_get_iic4_transaction_mode(mpu9250_handle_t *handle, mpu9250_iic4_transaction_mode_t *mode);

uint8_t mpu9250_set_iic_delay(mpu9250_handle_t *handle, uint8_t delay);

uint8_t mpu9250_get_iic_delay(mpu9250_handle_t *handle, uint8_t *delay);

uint8_t mpu9250_set_iic4_data_out(mpu9250_handle_t *handle, uint8_t data);

uint8_t mpu9250_get_iic4_data_out(mpu9250_handle_t *handle, uint8_t *data);

uint8_t mpu9250_set_iic4_data_in(mpu9250_handle_t *handle, uint8_t data);

uint8_t mpu9250_get_iic4_data_in(mpu9250_handle_t *handle, uint8_t *data);

uint8_t mpu9250_read_extern_sensor_data(mpu9250_handle_t *handle, uint8_t *data, uint8_t len);



uint8_t mpu9250_dmp_load_firmware(mpu9250_handle_t *handle);

uint8_t mpu9250_dmp_set_pedometer_walk_time(mpu9250_handle_t *handle, uint32_t ms);

uint8_t mpu9250_dmp_get_pedometer_walk_time(mpu9250_handle_t *handle, uint32_t *ms);

uint8_t mpu9250_dmp_set_pedometer_step_count(mpu9250_handle_t *handle, uint32_t count);

uint8_t mpu9250_dmp_get_pedometer_step_count(mpu9250_handle_t *handle, uint32_t *count);

uint8_t mpu9250_dmp_set_shake_reject_timeout(mpu9250_handle_t *handle, uint16_t ms);

uint8_t mpu9250_dmp_get_shake_reject_timeout(mpu9250_handle_t *handle, uint16_t *ms);

uint8_t mpu9250_dmp_set_shake_reject_time(mpu9250_handle_t *handle, uint16_t ms);

uint8_t mpu9250_dmp_get_shake_reject_time(mpu9250_handle_t *handle, uint16_t *ms);

uint8_t mpu9250_dmp_set_shake_reject_thresh(mpu9250_handle_t *handle, uint16_t dps);

uint8_t mpu9250_dmp_get_shake_reject_thresh(mpu9250_handle_t *handle, uint16_t *dps);

uint8_t mpu9250_dmp_set_tap_time_multi(mpu9250_handle_t *handle, uint16_t ms);

uint8_t mpu9250_dmp_get_tap_time_multi(mpu9250_handle_t *handle, uint16_t *ms);

uint8_t mpu9250_dmp_set_tap_time(mpu9250_handle_t *handle, uint16_t ms);

uint8_t mpu9250_dmp_get_tap_time(mpu9250_handle_t *handle, uint16_t *ms);

uint8_t mpu9250_dmp_set_min_tap_count(mpu9250_handle_t *handle, uint8_t cnt);

uint8_t mpu9250_dmp_get_min_tap_count(mpu9250_handle_t *handle, uint8_t *cnt);

uint8_t mpu9250_dmp_set_gyro_calibrate(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_dmp_set_3x_quaternion(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_dmp_set_6x_quaternion(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_dmp_set_interrupt_mode(mpu9250_handle_t *handle, mpu9250_dmp_interrupt_mode_t mode);

uint8_t mpu9250_dmp_set_gyro_bias(mpu9250_handle_t *handle, int32_t bias[3]);

uint8_t mpu9250_dmp_set_accel_bias(mpu9250_handle_t *handle, int32_t bias[3]);

uint8_t mpu9250_dmp_set_orientation(mpu9250_handle_t *handle, int8_t mat[9]);

uint8_t mpu9250_dmp_set_feature(mpu9250_handle_t *handle, uint16_t mask);

uint8_t mpu9250_dmp_set_fifo_rate(mpu9250_handle_t *handle, uint16_t rate);

uint8_t mpu9250_dmp_get_fifo_rate(mpu9250_handle_t *handle, uint16_t *rate);

uint8_t mpu9250_dmp_set_tap_axes(mpu9250_handle_t *handle, mpu9250_axis_t axis, mpu9250_bool_t enable);

uint8_t mpu9250_dmp_get_tap_axes(mpu9250_handle_t *handle, mpu9250_axis_t axis, mpu9250_bool_t *enable);

uint8_t mpu9250_dmp_set_tap_thresh(mpu9250_handle_t *handle, mpu9250_axis_t axis, uint16_t mg_ms);

uint8_t mpu9250_dmp_get_tap_thresh(mpu9250_handle_t *handle, mpu9250_axis_t axis, uint16_t *mg_ms);

uint8_t mpu9250_dmp_read(mpu9250_handle_t *handle,
                         int16_t (*accel_raw)[3], float (*accel_g)[3],
                         int16_t (*gyro_raw)[3], float (*gyro_dps)[3],
                         int32_t (*quat)[4],
                         float *pitch, float *roll, float *yaw,
                         uint16_t *l
                        );

uint8_t mpu9250_dmp_set_tap_callback(mpu9250_handle_t *handle, void (*callback)(uint8_t count, uint8_t direction));

uint8_t mpu9250_dmp_set_orient_callback(mpu9250_handle_t *handle, void (*callback)(uint8_t orientation));

uint8_t mpu9250_dmp_set_enable(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_dmp_gyro_accel_raw_offset_convert(mpu9250_handle_t *handle,
                                                  int32_t gyro_offset_raw[3], int32_t accel_offset_raw[3], 
                                                  int32_t gyro_offset[3], int32_t accel_offset[3]);



uint8_t mpu9250_mag_init(mpu9250_handle_t *handle);

uint8_t mpu9250_mag_deinit(mpu9250_handle_t *handle);

uint8_t mpu9250_mag_read(mpu9250_handle_t *handle, int16_t mag_raw[3], float mag_ut[3]);

uint8_t mpu9250_mag_get_info(mpu9250_handle_t *handle, uint8_t *info);

uint8_t mpu9250_mag_get_status1(mpu9250_handle_t *handle, uint8_t *status);

uint8_t mpu9250_mag_get_status2(mpu9250_handle_t *handle, uint8_t *status);

uint8_t mpu9250_mag_set_mode(mpu9250_handle_t *handle, mpu9250_magnetometer_mode_t mode);

uint8_t mpu9250_mag_get_mode(mpu9250_handle_t *handle, mpu9250_magnetometer_mode_t *mode);

uint8_t mpu9250_mag_set_bits(mpu9250_handle_t *handle, mpu9250_magnetometer_bits_t bits);

uint8_t mpu9250_mag_get_bits(mpu9250_handle_t *handle, mpu9250_magnetometer_bits_t *bits);

uint8_t mpu9250_mag_set_reset(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_mag_get_reset(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_mag_set_self_test(mpu9250_handle_t *handle, mpu9250_bool_t enable);

uint8_t mpu9250_mag_get_self_test(mpu9250_handle_t *handle, mpu9250_bool_t *enable);

uint8_t mpu9250_mag_iic_disable(mpu9250_handle_t *handle);

uint8_t mpu9250_mag_get_asa(mpu9250_handle_t *handle, uint8_t asa[3]);

uint8_t mpu9250_mag_set_fifo_mode(mpu9250_handle_t *handle);



uint8_t mpu9250_set_reg(mpu9250_handle_t *handle, uint8_t reg, uint8_t *buf, uint16_t len);

uint8_t mpu9250_get_reg(mpu9250_handle_t *handle, uint8_t reg, uint8_t *buf, uint16_t len);


 
#ifdef __cplusplus
}
#endif
 
#endif