Revision 0:551dbbd41a10, committed 2017-09-15

Comitter:

bluefish

Date:

Fri Sep 15 14:54:49 2017 +0000

Child:

1:5334e111af53

Commit message:

???????

Changed in this revision

diff -r 000000000000 -r 551dbbd41a10 Lib_MPU9250_SPI.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Lib_MPU9250_SPI.cpp	Fri Sep 15 14:54:49 2017 +0000
@@ -0,0 +1,275 @@
+#include "Lib_MPU9250_SPI.h"
+
+MPU9250::MPU9250( PinName cs, PinName mosi, PinName miso, PinName sck ) : _cs(cs), _spi(mosi, miso, sck){
+    _cs = 1;
+    _spi.format( 8, 0 );
+    _spi.frequency( 20000000 );
+    
+    _accscale   =   MPU9250A_2G;
+    _gyroscale  =   MPU9250G_250DPS;
+    return;
+}
+
+MPU9250::~MPU9250(){
+    return;    
+}
+
+// スタート
+void MPU9250::begin(){
+    // initialize state
+    _writeRegister( PWR_MGMT_1,    0x01  );
+    _writeRegister( PWR_MGMT_2,    0x00  );
+    _writeRegister( USER_CTRL,     0x30  );
+    _writeRegister( I2C_MST_CTRL,  0x0D  );      // I2C clock speed : 400kHz
+    
+    // reset AK8963
+    _writeRegister( I2C_SLV0_ADDR, AK8963_ADDR  );
+    _writeRegister( I2C_SLV0_REG,  CNTL2 );
+    _writeRegister( I2C_SLV0_DO,   0x01  );
+    _writeRegister( I2C_SLV0_CTRL, 0x81  );
+
+    // AK8963 mode : 100Hz sampling mode
+    _writeRegister( I2C_SLV0_ADDR, AK8963_ADDR  );
+    _writeRegister( I2C_SLV0_REG,  CNTL1 );
+    _writeRegister( I2C_SLV0_DO,   0x16  );
+    _writeRegister( I2C_SLV0_CTRL, 0x81  );
+    return;
+}
+
+// リセット
+void MPU9250::reset(){
+    _writeRegister( PWR_MGMT_1, BIT_H_RESET );
+    return;
+}
+
+// 加速度センサのレンジ設定
+void MPU9250::setAccelRange( MPU9250BIT range ){
+    switch( range ){
+        case BITS_FS_2G:
+            _accscale = MPU9250A_2G;
+            break;
+        case BITS_FS_4G:
+            _accscale = MPU9250A_4G;
+            break;
+        case BITS_FS_8G:
+            _accscale = MPU9250A_8G;
+            break;
+        case BITS_FS_16G:
+            _accscale = MPU9250A_16G;
+            break;
+        default:
+            return;
+    }
+    _writeRegister( ACCEL_CONFIG, range );
+    return;
+}
+
+// ジャイロセンサのレンジ設定
+void MPU9250::setGyroRange( MPU9250BIT range ){
+    switch( range ){
+        case BITS_FS_250DPS:
+            _gyroscale      = MPU9250G_250DPS;
+//          _gyroscalerad   = MPU9250G_250DPS_RAD;
+            break;
+        case BITS_FS_500DPS:
+            _gyroscale      = MPU9250G_500DPS;
+//          _gyroscalerad   = MPU9250G_500DPS_RAD;
+            break;
+        case BITS_FS_1000DPS:
+            _gyroscale      = MPU9250G_1000DPS;
+//          _gyroscalerad   = MPU9250G_1000DPS_RAD;
+            break;
+        case BITS_FS_2000DPS:
+            _gyroscale      = MPU9250G_2000DPS;
+//          _gyroscalerad   = MPU9250G_2000DPS_RAD;
+            break;
+        default:
+            return;
+    }
+    _writeRegister( GYRO_CONFIG, range );
+    return;
+}
+
+// ローパスフィルタ設定
+void MPU9250::setDLPF( MPU9250BIT range ){
+    return;
+}
+
+// 6軸分の生データを取得
+void MPU9250::read6AxisRaw( int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz ){
+    uint8_t buf[14];
+    _readBuffer( ACCEL_XOUT_H, 14, buf );
+    *ax = (int16_t)( ( buf[0]  << 8 ) | buf[1]  );
+    *ay = (int16_t)( ( buf[2]  << 8 ) | buf[3]  );
+    *az = (int16_t)( ( buf[4]  << 8 ) | buf[5]  );
+    *gx = (int16_t)( ( buf[8]  << 8 ) | buf[9]  );
+    *gy = (int16_t)( ( buf[10] << 8 ) | buf[11] );
+    *gz = (int16_t)( ( buf[12] << 8 ) | buf[13] );
+    return;
+}
+
+// 9軸分の生データを取得
+void MPU9250::read9AxisRaw( 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 ){
+    uint8_t buf[21];
+    _writeRegister( I2C_SLV0_ADDR, AK8963_ADDR | 0x80 );     // Set the I2C slave addres of AK8963 and set for read.
+    _writeRegister( I2C_SLV0_REG,  HXL  );                   // I2C slave 0 register address from where to begin data transfer
+    _writeRegister( I2C_SLV0_CTRL, 0x87 );                   // Read 7 bytes from the magnetomete    
+    _readBuffer( ACCEL_XOUT_H, 21, buf );
+    *ax = (int16_t)( ( buf[0]  << 8 ) | buf[1]  );
+    *ay = (int16_t)( ( buf[2]  << 8 ) | buf[3]  );
+    *az = (int16_t)( ( buf[4]  << 8 ) | buf[5]  );
+    *gx = (int16_t)( ( buf[8]  << 8 ) | buf[9]  );
+    *gy = (int16_t)( ( buf[10] << 8 ) | buf[11] );
+    *gz = (int16_t)( ( buf[12] << 8 ) | buf[13] );
+    *mx = (int16_t)( ( buf[15] << 8 ) | buf[14] );
+    *my = (int16_t)( ( buf[17] << 8 ) | buf[16] );
+    *mz = (int16_t)( ( buf[19] << 8 ) | buf[18] );
+    return;
+}
+
+// 加速度生データの取得
+void MPU9250::readAccelRaw( int16_t* ax, int16_t* ay, int16_t* az ){
+    uint8_t buf[6];
+    _readBuffer( ACCEL_XOUT_H, 6, buf );
+    *ax = (int16_t)( ( buf[0] << 8 ) | buf[1] );
+    *ay = (int16_t)( ( buf[2] << 8 ) | buf[3] );
+    *az = (int16_t)( ( buf[4] << 8 ) | buf[5] );
+    return;
+}
+
+// ジャイロ生データの取得
+void MPU9250::readGyroRaw( int16_t* gx, int16_t* gy, int16_t* gz ){
+    uint8_t buf[6]; 
+    _readBuffer( GYRO_XOUT_H, 6, buf );
+    *gx = (int16_t)( ( buf[0] << 8 ) | buf[1] );
+    *gy = (int16_t)( ( buf[2] << 8 ) | buf[3] );
+    *gz = (int16_t)( ( buf[4] << 8 ) | buf[5] );
+    return;
+}
+
+// 地磁気生データの取得
+void MPU9250::readMagRaw( int16_t* mx, int16_t* my, int16_t* mz ){
+    uint8_t buf[7];
+    _writeRegister( I2C_SLV0_ADDR, AK8963_ADDR | 0x80 );     // Set the I2C slave addres of AK8963 and set for read.
+    _writeRegister( I2C_SLV0_REG,  HXL  );                   // I2C slave 0 register address from where to begin data transfer
+    _writeRegister( I2C_SLV0_CTRL, 0x87 );                   // Read 7 bytes from the magnetomete
+    _readBuffer( EXT_SENS_DATA_00, 7, buf );
+    *mx = (int16_t)( ( buf[1] << 8 ) | buf[0] );
+    *my = (int16_t)( ( buf[3] << 8 ) | buf[2] );
+    *mz = (int16_t)( ( buf[5] << 8 ) | buf[4] );
+    return;
+}
+
+// 温度生データの取得
+int16_t MPU9250::readTempRaw(){
+    uint8_t buf[2];
+    _readBuffer( TEMP_OUT_H, 2, buf );
+    return (int16_t)( ( buf[0] << 8 ) | buf[1] );
+}
+
+// 6軸データの取得
+void MPU9250::read6Axis( float* ax, float* ay, float* az, float* gx, float* gy, float* gz ){
+    int16_t a_x, a_y, a_z, g_x, g_y, g_z;
+    read6AxisRaw( &a_x, &a_y, &a_z, &g_x, &g_y, &g_z );
+    *ax =   (float)a_x * _accscale;
+    *ay =   (float)a_y * _accscale;
+    *az =   (float)a_z * _accscale;
+    *gx =   (float)g_x * _gyroscale;
+    *gy =   (float)g_y * _gyroscale;
+    *gz =   (float)g_z * _gyroscale;    
+    return;
+}
+
+// 9軸データの取得
+void MPU9250::read9Axis( float* ax, float* ay, float* az, float* gx, float* gy, float* gz, float* mx, float* my, float* mz ){
+    int16_t a_x, a_y, a_z, g_x, g_y, g_z, m_x, m_y, m_z;
+    read9AxisRaw( &a_x, &a_y, &a_z, &g_x, &g_y, &g_z, &m_x, &m_y, &m_z );
+    *ax =   (float)a_x * _accscale;
+    *ay =   (float)a_y * _accscale;
+    *az =   (float)a_z * _accscale;
+    *gx =   (float)g_x * _gyroscale;
+    *gy =   (float)g_y * _gyroscale;
+    *gz =   (float)g_z * _gyroscale;
+    *mx =   (float)m_x * MPU9250M_4800uT;
+    *my =   (float)m_y * MPU9250M_4800uT;
+    *mz =   (float)m_z * MPU9250M_4800uT;
+    return;    
+}
+
+// 加速度データの取得
+void MPU9250::readAccel( float* ax, float* ay, float* az ){
+    int16_t x, y ,z;
+    readAccelRaw( &x, &y, &z );
+    *ax = (float)x * _accscale;
+    *ay = (float)y * _accscale;
+    *az = (float)z * _accscale;
+    return;
+}
+
+// ジャイロデータの取得
+void MPU9250::readGyro( float* gx, float* gy, float* gz ){
+    int16_t x, y ,z;
+    readGyroRaw( &x, &y, &z );
+    *gx = (float)x * _gyroscale;
+    *gy = (float)y * _gyroscale;
+    *gz = (float)z * _gyroscale;
+    return;
+}
+
+// 地磁気データの取得
+void MPU9250::readMag( float* mx, float* my, float* mz ){
+    int16_t x, y ,z;
+    readMagRaw( &x, &y, &z );
+    *mx = (float)x * MPU9250M_4800uT;
+    *my = (float)y * MPU9250M_4800uT;
+    *mz = (float)z * MPU9250M_4800uT;
+    return;
+}
+
+// 温度生データの取得
+float MPU9250::readTemp(){
+    int16_t tmp;
+    tmp = readTempRaw();
+    return (float)tmp * MPU9250T_85degC;
+}
+
+// レジスタの読み込み
+uint8_t MPU9250::_readRegister( MPU9250REG addr ){
+    uint8_t ret;
+    _cs =   0;
+    ret = _spi.write( addr | 0x80 );        // send address
+    ret = _spi.write( 0x00 );
+    _cs =   1;
+    return ret;
+}
+
+// レジスタへ書き込み
+uint8_t MPU9250::_writeRegister( MPU9250REG addr, uint8_t data ){
+    _cs =   0;
+    _spi.write( addr );
+    _spi.write( data );    
+    _cs =   1;
+    return 0;
+}
+
+// レジスタの読み込み(バッファ)
+uint8_t MPU9250::_readBuffer( MPU9250REG addr, uint8_t len, uint8_t* buf ){
+    _cs =   0;
+    _spi.write( addr | 0x80 );                  // send address
+    while( len-- ){
+        *(buf++) = _spi.write( 0x00 );          // read data
+    }
+    _cs =   1;
+    return 0;
+}
+
+// レジスタの書き込み(バッファ)
+uint8_t MPU9250::_writeBuffer( MPU9250REG addr, uint8_t len, uint8_t* buf ){
+    _cs =   0;
+    _spi.write( addr );                         // send address
+    while( len-- ){
+        _spi.write( *(buf++) );                 // send data
+    }
+    _cs =   1;
+    return 0;
+}

diff -r 000000000000 -r 551dbbd41a10 Lib_MPU9250_SPI.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Lib_MPU9250_SPI.h	Fri Sep 15 14:54:49 2017 +0000
@@ -0,0 +1,256 @@
+#ifndef __LIBRARY_MPU9250_SPI_H__
+#define __LIBRARY_MPU9250_SPI_H__
+
+#include "mbed.h"
+
+#define MPU9250_FREQ_DEFAULT    (4000000)           // default clock speed
+#define AK8963_ADDR             (0x0C)              // magnetometer address
+
+#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 MPU9250G_250DPS_RAD     ((float)0.00013323124f)   // 0.00013323124 rad/LSB
+#define MPU9250G_500DPS_RAD     ((float)0.00026646248f)   // 0.00026646248 rad/LSB
+#define MPU9250G_1000DPS_RAD    ((float)0.00053211257f)   // 0.00053211257 rad/LSB
+#define MPU9250G_2000DPS_RAD    ((float)0.00106422515f)   // 0.00106422515 rad/LSB
+*/
+
+#define MPU9250M_4800uT         ((float)0.6f)             // 0.6 uT/LSB
+#define MPU9250T_85degC         ((float)0.002995177763f)  // 0.002995177763 degC/LSB
+
+#define MPU9250G_DEG2RAD        ((float)0.01745329251f)   // degree to radian
+
+// enum
+typedef enum _MPU9250REG{
+    // gyro and accel
+    SELF_TEST_X_GYRO    =   0x00,
+    SELF_TEST_Y_GYRO    =   0x01,
+    SELF_TEST_Z_GYRO    =   0x02,
+    
+    SELF_TEST_X_ACCEL   =   0x0D,
+    SELF_TEST_Y_ACCEL   =   0x0E,
+    SELF_TEST_Z_ACCEL   =   0x0F,
+    
+    XG_OFFSET_H         =   0x13,
+    XG_OFFSET_L         =   0x14,
+    YG_OFFSET_H         =   0x15,
+    YG_OFFSET_L         =   0x16,
+    ZG_OFFSET_H         =   0x17,
+    ZG_OFFSET_L         =   0x18,
+    
+    SMPLRT_DIV          =   0x19,
+    CONFIG              =   0x1A,   
+    GYRO_CONFIG         =   0x1B,
+    ACCEL_CONFIG        =   0x1C,
+    ACCEL_CONFIG2       =   0x1D,
+    LP_ACCEL_ODR        =   0x1E,
+    WOM_THR             =   0x1F,
+    
+    FIFO_EN             =   0x23,
+    
+    I2C_MST_CTRL        =   0x24,
+    I2C_SLV0_ADDR       =   0x25,
+    I2C_SLV0_REG        =   0x26,
+    I2C_SLV0_CTRL       =   0x27,
+    I2C_SLV1_ADDR       =   0x28,
+    I2C_SLV1_REG        =   0x29,
+    I2C_SLV1_CTRL       =   0x2A,
+    I2C_SLV2_ADDR       =   0x2B,
+    I2C_SLV2_REG        =   0x2C,
+    I2C_SLV2_CTRL       =   0x2D,
+    I2C_SLV3_ADDR       =   0x2E,
+    I2C_SLV3_REG        =   0x2F,
+    I2C_SLV3_CTRL       =   0x30,
+    I2C_SLV4_ADDR       =   0x31,
+    I2C_SLV4_REG        =   0x32,
+    I2C_SLV4_DO         =   0x33,
+    I2C_SLV4_CTRL       =   0x34,
+    I2C_SLV4_DI         =   0x35,
+    I2C_MST_STATUS      =   0x36,
+    
+    INT_PIN_CFG         =   0x37,
+    INT_ENABLE          =   0x38,
+    INT_STATUS          =   0x3A,
+    
+    ACCEL_XOUT_H        =   0x3B,
+    ACCEL_XOUT_L        =   0x3C,
+    ACCEL_YOUT_H        =   0x3D,
+    ACCEL_YOUT_L        =   0x3E,
+    ACCEL_ZOUT_H        =   0x3F,
+    ACCEL_ZOUT_L        =   0x40,
+    
+    TEMP_OUT_H          =   0x41,
+    TEMP_OUT_L          =   0x42,
+    
+    GYRO_XOUT_H         =   0x43,
+    GYRO_XOUT_L         =   0x44,
+    GYRO_YOUT_H         =   0x45,
+    GYRO_YOUT_L         =   0x46,
+    GYRO_ZOUT_H         =   0x47,
+    GYRO_ZOUT_L         =   0x48,
+
+    EXT_SENS_DATA_00    =   0x49,
+    EXT_SENS_DATA_01    =   0x4A,
+    EXT_SENS_DATA_02    =   0x4B,
+    EXT_SENS_DATA_03    =   0x4C,
+    EXT_SENS_DATA_04    =   0x4D,
+    EXT_SENS_DATA_05    =   0x4E,
+    EXT_SENS_DATA_06    =   0x4F,
+    EXT_SENS_DATA_07    =   0x50,
+    EXT_SENS_DATA_08    =   0x51,
+    EXT_SENS_DATA_09    =   0x52,
+    EXT_SENS_DATA_10    =   0x53,
+    EXT_SENS_DATA_11    =   0x54,
+    EXT_SENS_DATA_12    =   0x55,
+    EXT_SENS_DATA_13    =   0x56,
+    EXT_SENS_DATA_14    =   0x57,
+    EXT_SENS_DATA_15    =   0x58,
+    EXT_SENS_DATA_16    =   0x59,
+    EXT_SENS_DATA_17    =   0x5A,
+    EXT_SENS_DATA_18    =   0x5B,
+    EXT_SENS_DATA_19    =   0x5C,
+    EXT_SENS_DATA_20    =   0x5D,
+    EXT_SENS_DATA_21    =   0x5E,
+    EXT_SENS_DATA_22    =   0x5F,
+    EXT_SENS_DATA_23    =   0x60,
+
+    I2C_SLV0_DO         =   0x63,
+    I2C_SLV1_DO         =   0x64,
+    I2C_SLV2_DO         =   0x65,
+    I2C_SLV3_DO         =   0x66,
+
+    I2C_MST_DELAY_CTRL  =   0x67,
+    SIGNAL_PATH_RESET   =   0x68,
+    MOT_DETECT_CTRL     =   0x69,
+    USER_CTRL           =   0x6A,
+    PWR_MGMT_1          =   0x6B,
+    PWR_MGMT_2          =   0x6C,
+    
+    FIFO_COUNTH         =   0x72,
+    FIFO_COUNTL         =   0x73,
+    FIFO_R_W            =   0x74,
+    WHO_AM_I            =   0x75,
+    
+    XA_OFFSET_H         =   0x77,
+    XA_OFFSET_L         =   0x78,
+    YA_OFFSET_H         =   0x7A,
+    YA_OFFSET_L         =   0x7B,
+    ZA_OFFSET_H         =   0x7D,
+    ZA_OFFSET_L         =   0x7E,
+} MPU9250REG;
+
+typedef enum _AK8963REG{    
+    // magnetometer
+    WIA                 =   0x00,
+    INFO                =   0x01,
+    ST1                 =   0x02,
+    
+    HXL                 =   0x03,
+    HXH                 =   0x04,
+    HYL                 =   0x05,
+    HYH                 =   0x06,
+    HZL                 =   0x07,
+    HZH                 =   0x08,
+
+    ST2                 =   0x09,
+    CNTL1               =   0x0A,
+    CNTL2               =   0x0B,
+    ASTC                =   0x0C,
+    TS1                 =   0x0D,
+    TS2                 =   0x0E,
+    I2CDIS              =   0x0F,
+
+    ASAX                =   0x10,
+    ASAY                =   0x11,
+    ASAZ                =   0x12,
+} AK8963REG;
+
+typedef enum _MPU9250BIT{
+    BIT_SLEEP                   =   0x40,
+    BIT_H_RESET                 =   0x80,
+    BITS_CLKSEL                 =   0x07,
+    MPU_CLK_SEL_PLLGYROX        =   0x01,
+    MPU_CLK_SEL_PLLGYROZ        =   0x03,
+    MPU_EXT_SYNC_GYROX          =   0x02,
+    BITS_FS_250DPS              =   0x00,
+    BITS_FS_500DPS              =   0x08,
+    BITS_FS_1000DPS             =   0x10,
+    BITS_FS_2000DPS             =   0x18,
+    BITS_FS_2G                  =   0x00,
+    BITS_FS_4G                  =   0x08,
+    BITS_FS_8G                  =   0x10,
+    BITS_FS_16G                 =   0x18,
+    BITS_FS_MASK                =   0x18,
+    BITS_DLPF_CFG_256HZ_NOLPF2  =   0x00,
+    BITS_DLPF_CFG_188HZ         =   0x01,
+    BITS_DLPF_CFG_98HZ          =   0x02,
+    BITS_DLPF_CFG_42HZ          =   0x03,
+    BITS_DLPF_CFG_20HZ          =   0x04,
+    BITS_DLPF_CFG_10HZ          =   0x05,
+    BITS_DLPF_CFG_5HZ           =   0x06,
+    BITS_DLPF_CFG_2100HZ_NOLPF  =   0x07,
+    BITS_DLPF_CFG_MASK          =   0x07,
+    BIT_INT_ANYRD_2CLEAR        =   0x10,
+    BIT_RAW_RDY_EN              =   0x01,
+    BIT_I2C_IF_DIS              =   0x10
+} MPU9250BIT;
+
+class MPU9250{
+    public:
+        MPU9250( PinName cs, PinName mosi, PinName miso, PinName sck );     // constructor
+        ~MPU9250();                                                         // destructor
+        
+        void    begin( void );
+        void    reset( void );
+        
+        void    setAccelRange( MPU9250BIT range );
+        void    setGyroRange( MPU9250BIT range );
+        void    setDLPF( MPU9250BIT range );
+
+        void    read6AxisRaw( 
+            int16_t* ax, int16_t* ay, int16_t* az, 
+            int16_t* gx, int16_t* gy, int16_t* gz );
+        void    read9AxisRaw( 
+            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 );
+        void    readAccelRaw( int16_t* ax, int16_t* ay, int16_t* az );
+        void    readGyroRaw(  int16_t* gx, int16_t* gy, int16_t* gz );
+        void    readMagRaw(   int16_t* mx, int16_t* my, int16_t* mz );
+        int16_t readTempRaw( void );
+
+        void    read6Axis( 
+            float* ax, float* ay, float* az, 
+            float* gx, float* gy, float* gz );
+        void    read9Axis( 
+            float* ax, float* ay, float* az, 
+            float* gx, float* gy, float* gz, 
+            float* mx, float* my, float* mz );
+        void    readAccel( float* ax, float* ay, float* az );
+        void    readGyro(  float* gx, float* gy, float* gz );
+        void    readMag(   float* mx, float* my, float* mz );
+        float   readTemp( void );
+
+    private:
+        DigitalOut  _cs;
+        SPI         _spi;
+        
+        float       _accscale;
+        float       _gyroscale;
+//      float       _gyroscalerad;
+        
+        uint8_t _readRegister(   MPU9250REG addr );
+        uint8_t _writeRegister(  MPU9250REG addr, uint8_t data );
+        uint8_t _readBuffer(     MPU9250REG addr, uint8_t len, uint8_t* buf );
+        uint8_t _writeBuffer(    MPU9250REG addr, uint8_t len, uint8_t* buf );
+};
+
+#endif