Add basic MPU9250 driver

1 files changed, 30 insertions, 0 deletions

diff --git a/include/driver/mpu9250.h b/include/driver/mpu9250.h
new file mode 100644
index 0000000..e362994
--- /dev/null
+++ b/include/driver/mpu9250.h
@@ -0,0 +1,30 @@
+#ifndef MPU9250_H
+#define MPU9250_H
+
+class MPU9250 {
+	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);
+
+	public:
+		MPU9250() {}
+		void init();
+		int getAccelX() { return getWordReg(59); }
+		int getAccelY() { return getWordReg(61); }
+		int getAccelZ() { return getWordReg(63); }
+		int getGyroX() { return getWordReg(67); }
+		int getGyroY() { return getWordReg(69); }
+		int getGyroZ() { return getWordReg(71); }
+		void getMagnet(int *x, int *y, int *z);
+		void setAccelEnable(bool x, bool y, bool z);
+		void setGyroEnable(bool x, bool y, bool z);
+		void setPower(bool sleep, bool gyroStandby);
+		float getTemperature();
+};
+
+extern MPU9250 mpu9250;
+
+#endif