#ifndef __MPU9250_H
#define __MPU9250_H

#ifdef __cplusplus
 extern "C" {
#endif
	 
// 定义MPU9250内部地址
/*****************************************************************/
#define	SMPLRT_DIV		                      0x19	//陀螺采样率
#define	CONFIG			                        0x1A	
#define	GYRO_CONFIG		                      0x1B	
#define	ACCEL_CONFIG	                      0x1C	
#define	ACCEL_CONFIG_2                      0x1D 
#define	LP_ACCEL_ODR                        0x1E
#define	FIFO_EN                             0x23

#define INT_PIN_CFG                         0x37 //中断配置
#define USER_CTRL                           0x6a
#define I2C_MST_CTRL                        0x24
#define I2C_MST_DELAY_CTRL                  0x67
//--------------------i2c slv0-------------------------------//
#define I2C_SLV0_ADDR                       0x25  
#define I2C_SLV0_REG                        0x26
#define I2C_SLV0_CTRL                       0x27 
#define I2C_SLV0_DO                         0x63 //output reg
//--------------------i2c slv1-------------------------------//
#define I2C_SLV1_ADDR                       0x28  
#define I2C_SLV1_REG                        0x29
#define I2C_SLV1_CTRL                       0x2A 
#define I2C_SLV1_DO                         0x64 //output reg
//--------------------AK8963 reg addr------------------------//
#define MPU9250_AK8963_ADDR                 0x0C  //AKM addr
#define AK8963_WHOAMI_REG                   0x00  //AKM ID addr
#define AK8963_WHOAMI_ID                    0x48  //ID
#define AK8963_ST1_REG                      0x02  //Data Status1
#define AK8963_ST2_REG                      0x09  //Data reading end register & check Magnetic sensor overflow occurred
#define AK8963_ST1_DOR                      0x02
#define AK8963_ST1_DRDY                     0x01 //Data Ready
#define AK8963_ST2_BITM                     0x10
#define AK8963_ST2_HOFL                     0x08 // Magnetic sensor overflow 
#define AK8963_CNTL1_REG                    0x0A
#define AK8963_CNTL2_REG                    0x0B
#define AK8963_CNTL2_SRST                   0x01 //soft Reset
#define AK8963_ASAX                         0x10 //X-axis sensitivity adjustment value 
#define AK8963_ASAY                         0x11 //Y-axis sensitivity adjustment value
#define AK8963_ASAZ                         0x12 //Z-axis sensitivity adjustment value
//--------------------9axis  reg addr-----------------------//
#define	ACCEL_XOUT_H	0x3B
#define	ACCEL_XOUT_L	0x3C
#define	ACCEL_YOUT_H	0x3D
#define	ACCEL_YOUT_L	0x3E
#define	ACCEL_ZOUT_H	0x3F
#define	ACCEL_ZOUT_L	0x40

#define	TEMP_OUT_H		0x41   //temperture
#define	TEMP_OUT_L		0x42

#define	GYRO_XOUT_H		0x43
#define	GYRO_XOUT_L		0x44	
#define	GYRO_YOUT_H		0x45
#define	GYRO_YOUT_L		0x46
#define	GYRO_ZOUT_H		0x47
#define	GYRO_ZOUT_L		0x48
		
#define MAG_XOUT_L		0x03
#define MAG_XOUT_H		0x04
#define MAG_YOUT_L		0x05
#define MAG_YOUT_H		0x06
#define MAG_ZOUT_L		0x07
#define MAG_ZOUT_H		0x08
//--------------------other reg addr-----------------------//
#define	PWR_MGMT_1		0x6B	//????,???:0x00(????)
#define	WHO_AM_I		  0x75	//ID?????(????0x71,??)

#define EXT_SENS_DATA_00    0x49  //MPU9250 IIC???????????00
#define EXT_SENS_DATA_01    0x4a  //MPU9250 IIC???????????01
#define EXT_SENS_DATA_02    0x4b  //MPU9250 IIC???????????02
#define EXT_SENS_DATA_03    0x4c  //MPU9250 IIC???????????03


#define MS561101BA_SlaveAddress 0xee

#define MS561101BA_D1 0x40
#define MS561101BA_D2 0x50
#define MS561101BA_RST 0x1E

#define MS561101BA_D1_OSR_256 0x40
#define MS561101BA_D1_OSR_512 0x42
#define MS561101BA_D1_OSR_1024 0x44
#define MS561101BA_D1_OSR_2048 0x46
#define MS561101BA_D1_OSR_4096 0x48

#define MS561101BA_D2_OSR_256 0x50
#define MS561101BA_D2_OSR_512 0x52
#define MS561101BA_D2_OSR_1024 0x54
#define MS561101BA_D2_OSR_2048 0x56
#define MS561101BA_D2_OSR_4096 0x58

#define MS561101BA_ADC_RD 0x00
#define MS561101BA_PROM_RD 0xA0
#define MS561101BA_PROM_CRC 0xAE

#define IIC_SDA_HIGH        {GPIO_SetBits(GPIOC,GPIO_Pin_9);}
#define IIC_SCL_HIGH        {GPIO_SetBits(GPIOA,GPIO_Pin_8);}
#define IIC_SDA_LOW         {GPIO_ResetBits(GPIOC,GPIO_Pin_9);}
#define IIC_SCL_LOW         {GPIO_ResetBits(GPIOA,GPIO_Pin_8);}
#define IIC_SDA_VALUE       (GPIOC->IDR & GPIO_Pin_9)

#ifdef __cplusplus
}
#endif

#endif