/**?based?on?InvenSense?MPU-9250?register?map?document?rev.?1.4?9/9/2013?（RM-MPU-9250A-00）
*?13/04/2014?by?Conor?Forde?
*?Updates?should?be?available?at?https://github.com/Snowda/MPU9250
*
*?Changelog:
*?????...?-?ongoing?development?release

*?NOTE:?THIS?IS?ONLY?A?PARIAL?RELEASE.?
*?THIS?DEVICE?CLASS?IS?CURRENTLY?UNDERGOING?ACTIVE?DEVELOPMENT?AND?IS?MISSING?MOST?FEATURES.?
*?PLEASE?KEEP?THIS?IN?MIND?IF?YOU?DECIDE?TO?USE?THIS?PARTICULAR?CODE?FOR?ANYTHING.
*/

#include?“MPU9250.h“

/**?Default?constructor?uses?default?I2C?address.
?*?@see?MPU9250_DEFAULT_ADDRESS
?*/
MPU9250::MPU9250（）?{
????_address?=?MPU9250_DEFAULT_ADDRESS;
}

/**?Specific?address?constructor.
?*?@param?address?I2C?address
?*?@see?MPU9250_DEFAULT_ADDRESS
?*?@see?MPU9250_ADDRESS_AD0_LOW
?*?@see?MPU9250_ADDRESS_AD0_HIGH
?*/
MPU9250::MPU9250（uint8_t?address）?{
????_address?=?address;
}

void?MPU9250::writeRegister（uint8_t?register_addr?uint8_t?value）?{

}

uint8_t?MPU9250::readRegister（uint8_t?register_addr）?{

}

uint16_t?MPU9250::readRegisters（uint8_t?msb_register?uint8_t?lsb_register）?{
????uint8_t?msb?=?readRegister（msb_register）;
????uint8_t?lsb?=?readRegister（lsb_register）;
????return?（（（int16_t）msb）?<
}

uint8_t?MPU9250::readMaskedRegister（uint8_t?register_addr?uint8_t?mask）?{
????uint8_t?data?=?readRegister（register_addr）;
????return?（data?&?mask）;
}

/**?Power?on?and?prepare?for?general?usage.
?*?This?will?activate?the?device?and?take?it?out?of?sleep?mode?（which?must?be?done
?*?after?start-up）.?This?function?also?sets?both?the?accelerometer?and?the?gyroscope
?*?to?their?most?sensitive?settings?namely?+/-?2g?and?+/-?250?degrees/sec?and?sets
?*?the?clock?source?to?use?the?X?Gyro?for?reference?which?is?slightly?better?than
?*?the?default?internal?clock?source.
?*/
void?MPU9250::initialize（void）?{
????setClockSource（MPU9250_CLOCK_PLL_XGYRO）;
????setFullScaleGyroRange（MPU9250_GYRO_FS_250）;
????setFullScaleAccelRange（MPU9250_ACCEL_FS_2）;
????setSleepEnabled（false）;?//?thanks?to?Jack?Elston?for?pointing?this?one?out!
}

//?AUX_VDDIO?register?（InvenSense?demo?code?calls?this?RA_*G_OFFS_TC）

/**?Get?the?auxiliary?I2C?supply?voltage?level.
?*?When?set?to?1?the?auxiliary?I2C?bus?high?logic?level?is?VDD.?When?cleared?to
?*?0?the?auxiliary?I2C?bus?high?logic?level?is?VLOGIC.?This?does?not?apply?to
?*?the?MPU-6000?which?does?not?have?a?VLOGIC?pin.
?*?@return?I2C?supply?voltage?level?（0=VLOGIC?1=VDD）
?*/
uint8_t?MPU9250::getAuxVDDIOLevel（void）?{
????I2Cdev::readBit（_address?MPU9250_RA_YG_OFFS_TC?MPU9250_TC_PWR_MODE_BIT?buffer）;
????return?buffer[0];
}
/**?Set?the?auxiliary?I2C?supply?voltage?level.
?*?When?set?to?1?the?auxiliary?I2C?bus?high?logic?level?is?VDD.?When?cleared?to
?*?0?the?auxiliary?I2C?bus?high?logic?level?is?VLOGIC.?This?does?not?apply?to
?*?the?MPU-6000?which?does?not?have?a?VLOGIC?pin.
?*?@param?level?I2C?supply?voltage?level?（0=VLOGIC?1=VDD）
?*/
void?MPU9250::setAuxVDDIOLevel（uint8_t?level）?{
????I2Cdev::writeBit（_addres

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

????.......???????126??2014-04-15?23:52??MPU9250-master\.gitignore

????.......??????3517??2014-04-15?23:52??MPU9250-master\Examples\MPU9250_raw\MPU9250_raw.ino

????.......??????6413??2014-04-15?23:52??MPU9250-master\helper_3dmath.h

????.......?????18025??2014-04-15?23:52??MPU9250-master\LICENSE

?????文件??????42815??2016-01-07?15:38??MPU9250-master\MPU9150.h

????.......?????38907??2014-04-15?23:52??MPU9250-master\MPU9150_6Axis_MotionApps20.h

????.......?????46548??2014-04-15?23:52??MPU9250-master\MPU9150_9Axis_MotionApps41.h

????.......????131133??2014-04-15?23:52??MPU9250-master\MPU9250.cpp

????.......?????13019??2014-04-15?23:52??MPU9250-master\MPU9250.h

????.......???????426??2014-04-15?23:52??MPU9250-master\README.md

?????目錄??????????0??2015-04-02?11:19??MPU9250-master\Examples\MPU9250_raw

?????目錄??????????0??2014-04-15?23:52??MPU9250-master\Examples

?????目錄??????????0??2015-04-02?11:19??MPU9250-master

-----------?---------??----------?-----??----

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