#ifndef MPU9250_H
#define MPU9250_H

/*
Copyright (c) 2016 SparkFun Electronics, Inc.
Copyright (c) 2019 Daniel Friesel

SPDX-License-Identifier: MIT

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/



class MPU9250 {
	public:
		enum accel_fsr_e {
			INV_FSR_2G = 0,
			INV_FSR_4G,
			INV_FSR_8G,
			INV_FSR_16G,
			NUM_ACCEL_FSR
		};
		enum gyro_fsr_e {
			INV_FSR_250DPS = 0,
			INV_FSR_500DPS,
			INV_FSR_1000DPS,
			INV_FSR_2000DPS,
			NUM_GYRO_FSR
		};

	private:
		MPU9250(const MPU9250 &copy);
		unsigned char const address = 0x68;
		unsigned char txbuf[3];
		unsigned char rxbuf[8];
		signed int getWordReg(unsigned char const regBase);
		bool gyroStandby;
		accel_fsr_e accel_fsr;
		gyro_fsr_e gyro_fsr;

	public:

		enum mpu9250_register {
			MPU9250_SELF_TEST_X_GYRO =  0x00,
			MPU9250_SELF_TEST_Y_GYRO =  0x01,
			MPU9250_SELF_TEST_Z_GYRO =  0x02,
			MPU9250_SELF_TEST_X_ACCEL = 0x0D,
			MPU9250_SELF_TEST_Y_ACCEL = 0x0E,
			MPU9250_SELF_TEST_Z_ACCEL = 0x0F,
			MPU9250_XG_OFFSET_H =       0x13,
			MPU9250_XG_OFFSET_L =       0x14,
			MPU9250_YG_OFFSET_H =       0x15,
			MPU9250_YG_OFFSET_L =       0x16,
			MPU9250_ZG_OFFSET_H =       0x17,
			MPU9250_ZG_OFFSET_L =       0x18,
			MPU9250_SMPLRT_DIV =        0x19,
			MPU9250_CONFIG =            0x1A,
			MPU9250_GYRO_CONFIG =       0x1B,
			MPU9250_ACCEL_CONFIG =      0x1C,
			MPU9250_ACCEL_CONFIG_2 =    0x1D,
			MPU9250_LP_ACCEL_ODR =      0x1E,
			MPU9250_WOM_THR =           0x1F,
			MPU9250_FIFO_EN =           0x23,
			MPU9250_I2C_MST_CTRL =      0x24,
			MPU9250_I2C_SLV0_ADDR =     0x25,
			MPU9250_I2C_SLV0_REG =      0x26,
			MPU9250_I2C_SLV0_CTRL =     0x27,
			MPU9250_I2C_SLV1_ADDR =     0x28,
			MPU9250_I2C_SLV1_REG =      0x29,
			MPU9250_I2C_SLV1_CTRL =     0x2A,
			MPU9250_I2C_SLV2_ADDR =     0x2B,
			MPU9250_I2C_SLV2_REG =      0x2C,
			MPU9250_I2C_SLV2_CTRL =     0x2D,
			MPU9250_I2C_SLV3_ADDR =     0x2E,
			MPU9250_I2C_SLV3_REG =      0x2F,
			MPU9250_I2C_SLV3_CTRL =     0x30,
			MPU9250_I2C_SLV4_ADDR =     0x31,
			MPU9250_I2C_SLV4_REG =      0x32,
			MPU9250_I2C_SLV4_DO =       0x33,
			MPU9250_I2C_SLV4_CTRL =     0x34,
			MPU9250_I2C_SLV4_DI =       0x35,
			MPU9250_I2C_MST_STATUS =    0x36,
			MPU9250_INT_PIN_CFG =       0x37,
			MPU9250_INT_ENABLE =        0x38,
			MPU9250_INT_STATUS =        0x3A,
			MPU9250_ACCEL_XOUT_H =      0x3B,
			MPU9250_ACCEL_XOUT_L =      0x3C,
			MPU9250_ACCEL_YOUT_H =      0x3D,
			MPU9250_ACCEL_YOUT_L =      0x3E,
			MPU9250_ACCEL_ZOUT_H =      0x3F,
			MPU9250_ACCEL_ZOUT_L =      0x40,
			MPU9250_TEMP_OUT_H =        0x41,
			MPU9250_TEMP_OUT_L =        0x42,
			MPU9250_GYRO_XOUT_H =       0x43,
			MPU9250_GYRO_XOUT_L =       0x44,
			MPU9250_GYRO_YOUT_H =       0x45,
			MPU9250_GYRO_YOUT_L =       0x46,
			MPU9250_GYRO_ZOUT_H =       0x47,
			MPU9250_GYRO_ZOUT_L =       0x48,
			MPU9250_EXT_SENS_DATA_00 =  0x49,
			MPU9250_EXT_SENS_DATA_01 =  0x4A,
			MPU9250_EXT_SENS_DATA_02 =  0x4B,
			MPU9250_EXT_SENS_DATA_03 =  0x4C,
			MPU9250_EXT_SENS_DATA_04 =  0x4D,
			MPU9250_EXT_SENS_DATA_05 =  0x4E,
			MPU9250_EXT_SENS_DATA_06 =  0x4F,
			MPU9250_EXT_SENS_DATA_07 =  0x50,
			MPU9250_EXT_SENS_DATA_08 =  0x51,
			MPU9250_EXT_SENS_DATA_09 =  0x52,
			MPU9250_EXT_SENS_DATA_10 =  0x53,
			MPU9250_EXT_SENS_DATA_11 =  0x54,
			MPU9250_EXT_SENS_DATA_12 =  0x55,
			MPU9250_EXT_SENS_DATA_13 =  0x56,
			MPU9250_EXT_SENS_DATA_14 =  0x57,
			MPU9250_EXT_SENS_DATA_15 =  0x58,
			MPU9250_EXT_SENS_DATA_16 =  0x59,
			MPU9250_EXT_SENS_DATA_17 =  0x5A,
			MPU9250_EXT_SENS_DATA_18 =  0x5B,
			MPU9250_EXT_SENS_DATA_19 =  0x5C,
			MPU9250_EXT_SENS_DATA_20 =  0x5D,
			MPU9250_EXT_SENS_DATA_21 =  0x5E,
			MPU9250_EXT_SENS_DATA_22 =  0x5F,
			MPU9250_EXT_SENS_DATA_23 =  0x60,
			MPU9250_I2C_SLV0_DO =       0x63,
			MPU9250_I2C_SLV1_DO =       0x64,
			MPU9250_I2C_SLV2_DO =       0x65,
			MPU9250_I2C_SLV3_DO =       0x66,
			MPU9250_I2C_MST_DELAY_CTRL =0x67,
			MPU9250_SIGNAL_PATH_RESET = 0x68,
			MPU9250_MOT_DETECT_CTRL =   0x69,
			MPU9250_USER_CTRL =         0x6A,
			MPU9250_PWR_MGMT_1 =        0x6B,
			MPU9250_PWR_MGMT_2 =        0x6C,
			MPU9250_FIFO_COUNTH =       0x72,
			MPU9250_FIFO_COUNTL =       0x73,
			MPU9250_FIFO_R_W =          0x74,
			MPU9250_WHO_AM_I =          0x75,
			MPU9250_XA_OFFSET_H =       0x77,
			MPU9250_XA_OFFSET_L =       0x78,
			MPU9250_YA_OFFSET_H =       0x7A,
			MPU9250_YA_OFFSET_L =       0x7B,
			MPU9250_ZA_OFFSET_H =       0x7D,
			MPU9250_ZA_OFFSET_L =       0x7E
		};

		enum interrupt_status_bits {
			INT_STATUS_RAW_DATA_RDY_INT = 0,
			INT_STATUS_FSYNC_INT = 3,
			INT_STATUS_FIFO_OVERFLOW_INT = 4,
			INT_STATUS_WOM_INT = 6,
		};

		enum gyro_config_bits {
			GYRO_CONFIG_FCHOICE_B = 0,
			GYRO_CONFIG_GYRO_FS_SEL = 3,
			GYRO_CONFIG_ZGYRO_CTEN = 5,
			GYRO_CONFIG_YGYRO_CTEN = 6,
			GYRO_CONFIG_XGYRO_CTEN = 7,
		};

		int const MPU9250_GYRO_FS_SEL_MASK = 0x3;

		int const MPU9250_GYRO_FCHOICE_MASK = 0x3;

		enum accel_config_bit {
			ACCEL_CONFIG_ACCEL_FS_SEL = 3,
			ACCEL_CONFIG_AZ_ST_EN = 5,
			ACCEL_CONFIG_AY_ST_EN = 6,
			ACCEL_CONFIG_AX_ST_EN = 7,
		};

		int const MPU9250_ACCEL_FS_SEL_MASK = 0x3;

		enum accel_config_2_bits {
			ACCEL_CONFIG_2_A_DLPFCFG = 0,
			ACCEL_CONFIG_2_ACCEL_FCHOICE_B = 3,
		};
			
		enum pwr_mgmt_1_bits {
			PWR_MGMT_1_CLKSEL = 0,
			PWR_MGMT_1_PD_PTAT = 3,
			PWR_MGMT_1_GYRO_STANDBY = 4,
			PWR_MGMT_1_CYCLE = 5,
			PWR_MGMT_1_SLEEP = 6,
			PWR_MGMT_1_H_RESET = 7
		};

		enum pwr_mgmt_2_bits {
			PWR_MGMT_2_DISABLE_ZG = 0,
			PWR_MGMT_2_DISABLE_YG = 1,
			PWR_MGMT_2_DISABLE_XG = 2,
			PWR_MGMT_2_DISABLE_ZA = 3,
			PWR_MGMT_2_DISABLE_YA = 4,
			PWR_MGMT_2_DISABLE_XA = 5,
		};

		enum int_enable_bits {
			INT_ENABLE_RAW_RDY_EN = 0,
			INT_ENABLE_FSYNC_INT_EN = 3,
			INT_ENABLE_FIFO_OVERFLOW_EN = 4,
			INT_ENABLE_WOM_EN = 6,
		};

		enum int_pin_cfg_bits {
			INT_PIN_CFG_BYPASS_EN = 1,
			INT_PIN_CFG_FSYNC_INT_MODE_EN = 2,
			INT_PIN_CFG_ACTL_FSYNC = 3,
			INT_PIN_CFG_INT_ANYRD_2CLEAR = 4,
			INT_PIN_CFG_LATCH_INT_EN = 5,
			INT_PIN_CFG_OPEN = 6,
			INT_PIN_CFG_ACTL = 7,
		};

		int const INT_PIN_CFG_INT_MASK = 0xF0;

		int const MPU9250_WHO_AM_I_RESULT = 0x71;

		enum ak8963_register {
			AK8963_WIA = 0x0,
			AK8963_INFO = 0x1,
			AK8963_ST1 = 0x2,
			AK8963_HXL = 0x3,
			AK8963_HXH = 0x4,
			AK8963_HYL = 0x5,
			AK8963_HYH = 0x6,
			AK8963_HZL = 0x7,
			AK8963_HZH = 0x8,
			AK8963_ST2 = 0x9,
			AK8963_CNTL = 0xA,
			AK8963_RSV = 0xB,
			AK8963_ASTC = 0xC,
			AK8963_TS1 = 0xD,
			AK8963_TS2 = 0xE,
			AK8963_I2CDIS = 0xF,
			AK8963_ASAX = 0x10,
			AK8963_ASAY = 0x11,
			AK8963_ASAZ = 0x12,
		};

		int const MAG_CTRL_OP_MODE_MASK = 0xF;

		int const AK8963_ST1_DRDY_BIT = 0;

		int const AK8963_WHO_AM_I_RESULT = 0x48;

		/* Filter configurations. */
		enum lpf_e {
			INV_FILTER_256HZ_NOLPF2 = 0,
			INV_FILTER_188HZ,
			INV_FILTER_98HZ,
			INV_FILTER_42HZ,
			INV_FILTER_20HZ,
			INV_FILTER_10HZ,
			INV_FILTER_5HZ,
			INV_FILTER_2100HZ_NOLPF,
			NUM_FILTER
		};

		MPU9250() : gyroStandby(false), accel_fsr(INV_FSR_2G), gyro_fsr(INV_FSR_250DPS) {}
		void init();
		inline int getAccelX() { return getWordReg(59); }
		inline int getAccelY() { return getWordReg(61); }
		inline int getAccelZ() { return getWordReg(63); }
		inline int getGyroX() { return getWordReg(67); }
		inline int getGyroY() { return getWordReg(69); }
		inline int getGyroZ() { return getWordReg(71); }
		void getRawAccel(int *x, int *y, int *z);
		void getRawGyro(int *x, int *y, int *z);
		bool getRawMagnet(int *x, int *y, int *z);
		void getAccel(float *g_x, float *g_y, float *g_z);
		void getGyro(float *dps_x, float *dps_y, float *dps_z);
		bool getMagnet(float *ut_x, float *ut_y, float *ut_z);
		float getTemperature();
		void setAccelEnable(bool x, bool y, bool z);
		void setGyroEnable(bool x, bool y, bool z);
		void setGyroStandby(bool gyroStandby);
		void setAccelFSR(accel_fsr_e fsr);
		void setGyroFSR(gyro_fsr_e fsr);
		void AGSleep();
		void AGWakeup();
		void MagSleep();
		void MagWakeup();

		// mpu9250.dfa
		void sleep();
		void standby();
		void lowPowerAccelOnly(unsigned char rate);
		void accelOnly();
		void gyroOnly();
		void magnetOnly();
		void nineAxis();
};

extern MPU9250 mpu9250;

#endif
