/*==========================================================================================
MIT License

Copyright (c) 2026 https://madflight.com

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.
===========================================================================================*/

// Registers for MPU sensors

#pragma once

// MPU9250 registers (NOTE: used MPU6050 and MPU9150 registers are the same)
#define MPUREG_XG_OFFS_TC 0x00
#define MPUREG_YG_OFFS_TC 0x01
#define MPUREG_ZG_OFFS_TC 0x02
#define MPUREG_X_FINE_GAIN 0x03
#define MPUREG_Y_FINE_GAIN 0x04
#define MPUREG_Z_FINE_GAIN 0x05
#define MPUREG_XA_OFFS_H 0x06
#define MPUREG_XA_OFFS_L 0x07
#define MPUREG_YA_OFFS_H 0x08
#define MPUREG_YA_OFFS_L 0x09
#define MPUREG_ZA_OFFS_H 0x0A
#define MPUREG_ZA_OFFS_L 0x0B
#define MPUREG_PRODUCT_ID 0x0C
#define MPUREG_SELF_TEST_X 0x0D
#define MPUREG_SELF_TEST_Y 0x0E
#define MPUREG_SELF_TEST_Z 0x0F
#define MPUREG_SELF_TEST_A 0x10
#define MPUREG_XG_OFFS_USRH 0x13
#define MPUREG_XG_OFFS_USRL 0x14
#define MPUREG_YG_OFFS_USRH 0x15
#define MPUREG_YG_OFFS_USRL 0x16
#define MPUREG_ZG_OFFS_USRH 0x17
#define MPUREG_ZG_OFFS_USRL 0x18
#define MPUREG_SMPLRT_DIV 0x19
#define MPUREG_CONFIG 0x1A
#define MPUREG_GYRO_CONFIG 0x1B
#define MPUREG_ACCEL_CONFIG 0x1C
#define MPUREG_ACCEL_CONFIG_2      0x1D
#define MPUREG_LP_ACCEL_ODR        0x1E
#define MPUREG_MOT_THR             0x1F
#define MPUREG_FIFO_EN             0x23
#define MPUREG_I2C_MST_CTRL        0x24
#define MPUREG_I2C_SLV0_ADDR       0x25
#define MPUREG_I2C_SLV0_REG        0x26
#define MPUREG_I2C_SLV0_CTRL       0x27
#define MPUREG_I2C_SLV1_ADDR       0x28
#define MPUREG_I2C_SLV1_REG        0x29
#define MPUREG_I2C_SLV1_CTRL       0x2A
#define MPUREG_I2C_SLV2_ADDR       0x2B
#define MPUREG_I2C_SLV2_REG        0x2C
#define MPUREG_I2C_SLV2_CTRL       0x2D
#define MPUREG_I2C_SLV3_ADDR       0x2E
#define MPUREG_I2C_SLV3_REG        0x2F
#define MPUREG_I2C_SLV3_CTRL       0x30
#define MPUREG_I2C_SLV4_ADDR       0x31
#define MPUREG_I2C_SLV4_REG        0x32
#define MPUREG_I2C_SLV4_DO         0x33
#define MPUREG_I2C_SLV4_CTRL       0x34
#define MPUREG_I2C_SLV4_DI         0x35
#define MPUREG_I2C_MST_STATUS      0x36
#define MPUREG_INT_PIN_CFG 0x37
#define MPUREG_INT_ENABLE 0x38
#define MPUREG_ACCEL_XOUT_H 0x3B
#define MPUREG_ACCEL_XOUT_L 0x3C
#define MPUREG_ACCEL_YOUT_H 0x3D
#define MPUREG_ACCEL_YOUT_L 0x3E
#define MPUREG_ACCEL_ZOUT_H 0x3F
#define MPUREG_ACCEL_ZOUT_L 0x40
#define MPUREG_TEMP_OUT_H 0x41
#define MPUREG_TEMP_OUT_L 0x42
#define MPUREG_GYRO_XOUT_H 0x43
#define MPUREG_GYRO_XOUT_L 0x44
#define MPUREG_GYRO_YOUT_H 0x45
#define MPUREG_GYRO_YOUT_L 0x46
#define MPUREG_GYRO_ZOUT_H 0x47
#define MPUREG_GYRO_ZOUT_L 0x48
#define MPUREG_EXT_SENS_DATA_00    0x49
#define MPUREG_EXT_SENS_DATA_01    0x4A
#define MPUREG_EXT_SENS_DATA_02    0x4B
#define MPUREG_EXT_SENS_DATA_03    0x4C
#define MPUREG_EXT_SENS_DATA_04    0x4D
#define MPUREG_EXT_SENS_DATA_05    0x4E
#define MPUREG_EXT_SENS_DATA_06    0x4F
#define MPUREG_EXT_SENS_DATA_07    0x50
#define MPUREG_EXT_SENS_DATA_08    0x51
#define MPUREG_EXT_SENS_DATA_09    0x52
#define MPUREG_EXT_SENS_DATA_10    0x53
#define MPUREG_EXT_SENS_DATA_11    0x54
#define MPUREG_EXT_SENS_DATA_12    0x55
#define MPUREG_EXT_SENS_DATA_13    0x56
#define MPUREG_EXT_SENS_DATA_14    0x57
#define MPUREG_EXT_SENS_DATA_15    0x58
#define MPUREG_EXT_SENS_DATA_16    0x59
#define MPUREG_EXT_SENS_DATA_17    0x5A
#define MPUREG_EXT_SENS_DATA_18    0x5B
#define MPUREG_EXT_SENS_DATA_19    0x5C
#define MPUREG_EXT_SENS_DATA_20    0x5D
#define MPUREG_EXT_SENS_DATA_21    0x5E
#define MPUREG_EXT_SENS_DATA_22    0x5F
#define MPUREG_EXT_SENS_DATA_23    0x60
#define MPUREG_I2C_SLV0_DO         0x63
#define MPUREG_I2C_SLV1_DO         0x64
#define MPUREG_I2C_SLV2_DO         0x65
#define MPUREG_I2C_SLV3_DO         0x66
#define MPUREG_I2C_MST_DELAY_CTRL  0x67
#define MPUREG_SIGNAL_PATH_RESET   0x68
#define MPUREG_MOT_DETECT_CTRL     0x69
#define MPUREG_USER_CTRL           0x6A
#define MPUREG_PWR_MGMT_1          0x6B
#define MPUREG_PWR_MGMT_2          0x6C
#define MPUREG_BANK_SEL            0x6D
#define MPUREG_MEM_START_ADDR      0x6E
#define MPUREG_MEM_R_W             0x6F
#define MPUREG_DMP_CFG_1           0x70
#define MPUREG_DMP_CFG_2           0x71
#define MPUREG_FIFO_COUNTH         0x72
#define MPUREG_FIFO_COUNTL         0x73
#define MPUREG_FIFO_R_W            0x74
#define MPUREG_WHOAMI              0x75
#define MPUREG_XA_OFFSET_H         0x77
#define MPUREG_XA_OFFSET_L         0x78
#define MPUREG_YA_OFFSET_H         0x7A
#define MPUREG_YA_OFFSET_L         0x7B
#define MPUREG_ZA_OFFSET_H         0x7D
#define MPUREG_ZA_OFFSET_L         0x7E
 
// Configuration bits mpu9250
#define BIT_SLEEP 0x40
#define BIT_H_RESET 0x80
#define BITS_CLKSEL 0x07
#define MPU_CLK_SEL_PLLGYROX 0x01
#define MPU_CLK_SEL_PLLGYROZ 0x03
#define MPU_EXT_SYNC_GYROX 0x02
#define BITS_FS_250DPS              0x00
#define BITS_FS_500DPS              0x08
#define BITS_FS_1000DPS             0x10
#define BITS_FS_2000DPS             0x18
#define BITS_FS_2G                  0x00
#define BITS_FS_4G                  0x08
#define BITS_FS_8G                  0x10
#define BITS_FS_16G                 0x18
#define BITS_FS_MASK                0x18
#define BITS_DLPF_CFG_256HZ_NOLPF2  0x00
#define BITS_DLPF_CFG_188HZ         0x01
#define BITS_DLPF_CFG_98HZ          0x02
#define BITS_DLPF_CFG_42HZ          0x03
#define BITS_DLPF_CFG_20HZ          0x04
#define BITS_DLPF_CFG_10HZ          0x05
#define BITS_DLPF_CFG_5HZ           0x06
#define BITS_DLPF_CFG_2100HZ_NOLPF  0x07
#define BITS_DLPF_CFG_MASK          0x07
#define BIT_INT_ANYRD_2CLEAR        0x10
#define BIT_RAW_RDY_EN              0x01
#define BIT_I2C_IF_DIS              0x10
 
#define READ_FLAG   0x80
 
/* ---- Sensitivity --------------------------------------------------------- */
 
#define MPU9250A_2g       ((float)0.000061035156f) // 0.000061035156 g/LSB
#define MPU9250A_4g       ((float)0.000122070312f) // 0.000122070312 g/LSB
#define MPU9250A_8g       ((float)0.000244140625f) // 0.000244140625 g/LSB
#define MPU9250A_16g      ((float)0.000488281250f) // 0.000488281250 g/LSB
 
#define MPU9250G_250dps   ((float)0.007633587786f) // 0.007633587786 dps/LSB
#define MPU9250G_500dps   ((float)0.015267175572f) // 0.015267175572 dps/LSB
#define MPU9250G_1000dps  ((float)0.030487804878f) // 0.030487804878 dps/LSB
#define MPU9250G_2000dps  ((float)0.060975609756f) // 0.060975609756 dps/LSB
 
 
#define MPU9250T_85degC   ((float)0.002995177763f) // 0.002995177763 degC/LSB
