mpu9250.go

// Copyright 2018 The Periph Authors. All rights reserved.
// Use of this source code is governed under the Apache License, Version 2.0
// that can be found in the LICENSE file.

// Package mpu9250 MPU-9250 is a 9-axis MotionTracking device that combines a 3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer and a Digital Motion Processor™ (DMP)
//
// Datasheet
//
// https://www.invensense.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf
// https://www.invensense.com/wp-content/uploads/2015/02/MPU-9250-Register-Map.pdf
package mpu9250

import (
	"fmt"
	"math"
	"time"

	"periph.io/x/periph/experimental/devices/mpu9250/reg"
)

const (
	slaveNumberError = "slave number 0 .. 3"
	registers        = 12
	accelsenSitivity = 16384
)

// Proto defines the low-level methods used by different transports.
type Proto interface {
	writeMaskedReg(address byte, mask byte, value byte) error
	readMaskedReg(address byte, mask byte) (byte, error)
	readByte(address byte) (byte, error)
	writeByte(address byte, value byte) error
	readUint16(address ...byte) (uint16, error)
	writeMagReg(address byte, value byte) error
}

// AccelerometerData the values for x/y/z axises.
type AccelerometerData struct {
	X, Y, Z int16
}

// GyroscopeData the values for x/y/z axises.
type GyroscopeData struct {
	X, Y, Z int16
}

// RotationData the rotation around X/Y/Z axises.
type RotationData struct {
	X, Y, Z int16
}

// Deviation defines the standard deviation for major axises.
type Deviation struct {
	X, Y, Z float64
}

// SelfTestResult defines the results for self-test for accelerometer, gyroscope.
type SelfTestResult struct {
	AccelDeviation Deviation
	GyroDeviation  Deviation
}

// MPU9250 defines the structure to keep reference to the transport.
type MPU9250 struct {
	transport Proto
	debug     func(string, ...interface{})
}

// New creates the new instance of the driver.
//
// transport the transport interface.
func New(transport Proto) (*MPU9250, error) {
	return &MPU9250{transport: transport, debug: noop}, nil
}

// Debug sets the debug logger implementation.
func (m *MPU9250) Debug(f DebugF) {
	m.debug = f
}

// Init initializes the device.
func (m *MPU9250) Init() error {
	return m.transferBatch(initSequence, "error initializing %d: [%x:%x] => %v")
}

// Calibrate calibrates the device using maximum precision for both Gyroscope
// and Accelerometer.
func (m *MPU9250) Calibrate() error {
	if err := m.transferBatch(calibrateSequence, "error calibrating %d: [%x:%x] => %v"); err != nil {
		return err
	}
	reads, err := m.GetFIFOCount() // read FIFO sample count
	if err != nil {
		return wrapf("can't get FIFO => %v", err)
	}

	m.debug("Read %d packets\n", reads)

	packets := reads / registers

	var buffer [registers]byte

	toUint16 := func(offset int) int16 {
		return int16(buffer[offset])<<8 | int16(buffer[offset+1])
	}

	writeGyroOffset := func(v int16, h, l byte) error {
		o := (-v) >> 2
		if err := m.transport.writeByte(h, byte(o>>8)); err != nil {
			return wrapf("can't write Gyro offset %x(h):%x => %v", h, o, err)
		}
		if err := m.transport.writeByte(l, byte(o&0xFF)); err != nil {
			return wrapf("can't write Gyro offset %x(l):%x => %v", l, o, err)
		}
		return nil
	}

	writeAccelOffset := func(o uint16, h, l byte) error {
		if err := m.transport.writeByte(h, byte(o>>8)); err != nil {
			return wrapf("can't write Accelerator %x(h):%x => %v", h, o, err)
		}
		if err := m.transport.writeByte(l, byte(o&0xFF)); err != nil {
			return wrapf("can't write Accelerator %x(l):%x => %v", l, o, err)
		}
		return nil
	}

	var (
		accelX, accelY, accelZ, gyroX, gyroY, gyroZ                         int64
		accelXBias, accelYBias, accelZBias, gyroXBias, gyroYBias, gyroZBias int16
	)

	for i := 0; i < int(packets); i++ {
		for j := 0; j < registers; j++ {
			b, err := m.GetFIFOByte()
			if err != nil {
				return wrapf("can't read data byte %d of packet %d => %v", j, i, err)
			}
			buffer[j] = b
		}
		accelX += int64(toUint16(0))
		accelY += int64(toUint16(2))
		accelZ += int64(toUint16(4))
		gyroX += int64(toUint16(6))
		gyroY += int64(toUint16(8))
		gyroZ += int64(toUint16(10))
	}

	accelXBias = int16(accelX / int64(packets))
	accelYBias = int16(accelY / int64(packets))
	accelZBias = int16(accelZ / int64(packets))
	gyroXBias = int16(gyroX / int64(packets))
	gyroYBias = int16(gyroY / int64(packets))
	gyroZBias = int16(gyroZ / int64(packets))

	m.debug("Raw accelerometer bias: X:%d, Y:%d, Z:%d\n", accelXBias, accelYBias, accelZBias)
	m.debug("Raw gyroscope bias X:%d, Y:%d, Z:%d\n", gyroXBias, gyroYBias, gyroZBias)

	if accelZBias > 0 {
		accelZBias -= accelsenSitivity
	} else {
		accelZBias += accelsenSitivity
	}

	var factoryGyroBiasX, factoryGyroBiasY, factoryGyroBiasZ int16
	factoryGyroBiasX, err = m.ReadSignedWord(reg.MPU9250_XG_OFFSET_H, reg.MPU9250_XG_OFFSET_L)
	if err != nil {
		return err
	}
	factoryGyroBiasY, err = m.ReadSignedWord(reg.MPU9250_YG_OFFSET_H, reg.MPU9250_YG_OFFSET_L)
	if err != nil {
		return err
	}
	factoryGyroBiasZ, err = m.ReadSignedWord(reg.MPU9250_ZG_OFFSET_H, reg.MPU9250_ZG_OFFSET_L)
	if err != nil {
		return err
	}
	m.debug("Factory gyroscope bias: X:%d, Y:%d, Z:%d\n", int16(factoryGyroBiasX), int16(factoryGyroBiasY), int16(factoryGyroBiasZ))

	if err := writeGyroOffset(gyroXBias, reg.MPU9250_GYRO_XOUT_H, reg.MPU9250_GYRO_XOUT_L); err != nil {
		return err
	}
	if err := writeGyroOffset(gyroYBias, reg.MPU9250_GYRO_YOUT_H, reg.MPU9250_GYRO_YOUT_L); err != nil {
		return err
	}
	if err := writeGyroOffset(gyroZBias, reg.MPU9250_GYRO_ZOUT_H, reg.MPU9250_GYRO_ZOUT_L); err != nil {
		return err
	}

	// Construct the accelerometer biases for push to the hardware accelerometer
	// bias registers. These registers contain factory trim values which must be
	// added to the calculated accelerometer biases; on boot up these registers
	// will hold non-zero values.
	var factoryBiasX, factoryBiasY, factoryBiasZ int16
	factoryBiasX, err = m.ReadSignedWord(reg.MPU9250_XA_OFFSET_H, reg.MPU9250_XA_OFFSET_L)
	if err != nil {
		return err
	}
	factoryBiasY, err = m.ReadSignedWord(reg.MPU9250_YA_OFFSET_H, reg.MPU9250_YA_OFFSET_L)
	if err != nil {
		return err
	}
	factoryBiasZ, err = m.ReadSignedWord(reg.MPU9250_ZA_OFFSET_H, reg.MPU9250_ZA_OFFSET_L)
	if err != nil {
		return err
	}

	// In addition, bit 0 of the lower byte must be preserved since it is used
	// for temperature compensation calculations.
	maskX := factoryBiasX & 1
	maskY := factoryBiasY & 1
	maskZ := factoryBiasZ & 1

	m.debug("Factory accelerometer bias: X:%d, Y:%d, Z:%d\n", int16(factoryBiasX), int16(factoryBiasY), int16(factoryBiasZ))

	// Accelerometer bias registers expect bias input as 2048 LSB per g, so that
	// the accelerometer biases calculated above must be divided by 8.
	factoryBiasX -= accelXBias >> 3
	factoryBiasY -= accelYBias >> 3
	factoryBiasZ -= accelZBias >> 3

	// restore the temperature preserve bit
	factoryBiasX |= maskX
	factoryBiasY |= maskY
	factoryBiasZ |= maskZ

	if err := writeAccelOffset(uint16(factoryBiasX), reg.MPU9250_XA_OFFSET_H, reg.MPU9250_XA_OFFSET_L); err != nil {
		return err
	}
	if err := writeAccelOffset(uint16(factoryBiasY), reg.MPU9250_YA_OFFSET_H, reg.MPU9250_YA_OFFSET_L); err != nil {
		return err
	}
	return writeAccelOffset(uint16(factoryBiasZ), reg.MPU9250_ZA_OFFSET_H, reg.MPU9250_ZA_OFFSET_L)
}

var selftTestSequence = [][]byte{
	{reg.MPU9250_SMPLRT_DIV, 0x00},
	{reg.MPU9250_CONFIG, 0x02},
	{reg.MPU9250_PWR_MGMT_2, 0x00},
	{reg.MPU9250_GYRO_CONFIG, 0x00},
	{reg.MPU9250_ACCEL_CONFIG2, 0x02},
	{reg.MPU9250_ACCEL_CONFIG, 0x00},
}

// SelfTest runs the self test on the device.
//
// Returns the accelerator and gyroscope deviations from the factory defaults.
func (m *MPU9250) SelfTest() (*SelfTestResult, error) {
	if err := m.transferBatch(selftTestSequence, "error initializing self-test sequence %d: [%x:%x] => %v"); err != nil {
		return nil, err
	}
	const iterations = 200
	var (
		avgAccelX, avgAccelY, avgAccelZ       int32
		avgGyroX, avgGyroY, avgGyroZ          int32
		avgSTAccelX, avgSTAccelY, avgSTAccelZ int32
		avgSTGyroX, avgSTGyroY, avgSTGyroZ    int32
		stGyroX, stGyroY, stGyroZ             byte
		stAccelX, stAccelY, stAccelZ          byte
	)

	add := func(f func() (int16, error), dest *int32) error {
		v, err := f()
		if err != nil {
			return err
		}
		*dest += int32(v)
		return nil
	}

	collectData := func(ax, ay, az, gx, gy, gz *int32) error {
		for i := 0; i < iterations; i++ {
			if err := add(m.GetAccelerationX, ax); err != nil {
				return err
			}
			if err := add(m.GetAccelerationY, ay); err != nil {
				return err
			}
			if err := add(m.GetAccelerationZ, az); err != nil {
				return err
			}
			if err := add(m.GetRotationX, gx); err != nil {
				return err
			}
			if err := add(m.GetRotationY, gy); err != nil {
				return err
			}
			if err := add(m.GetRotationZ, gz); err != nil {
				return err
			}
		}
		*ax /= iterations
		*ay /= iterations
		*az /= iterations
		*gx /= iterations
		*gy /= iterations
		*gz /= iterations
		return nil
	}

	// Collect the average measurement for the registers data
	if err := collectData(&avgAccelX, &avgAccelY, &avgAccelZ, &avgGyroX, &avgGyroY, &avgGyroZ); err != nil {
		return nil, wrapf("selftest: error reading register data %v", err)
	}

	m.debug("Avg accelerometer: X: %d, Y: %d, Z: %d\n    gyroscope:     X: %d, Y: %d, Z: %d\n", avgAccelX, avgAccelY, avgAccelZ, avgGyroX, avgGyroY, avgGyroZ)

	// Collect the self-test data.
	if err := m.transport.writeByte(reg.MPU9250_ACCEL_CONFIG, 0xe0); err != nil {
		return nil, wrapf("selftest: error setting selftest for accelerometer: %v", err)
	}
	if err := m.transport.writeByte(reg.MPU9250_GYRO_CONFIG, 0xe0); err != nil {
		return nil, wrapf("selftest: error setting selftest for gyroscope: %v", err)
	}
	if err := collectData(&avgSTAccelX, &avgSTAccelY, &avgSTAccelZ, &avgSTGyroX, &avgSTGyroY, &avgSTGyroZ); err != nil {
		return nil, wrapf("selftest: error reading self-test register data %v", err)
	}
	m.debug("Avg Trim accelerometer : X: %d, Y: %d, Z: %d\n         gyroscope:      X: %d, Y: %d, Z: %d\n", avgSTAccelX, avgSTAccelY, avgSTAccelZ, avgSTGyroX, avgSTGyroY, avgSTGyroZ)
	if err := m.transport.writeByte(reg.MPU9250_ACCEL_CONFIG, 0x00); err != nil {
		return nil, wrapf("selftest: error resetting accelerometer: %v", err)
	}
	if err := m.transport.writeByte(reg.MPU9250_GYRO_CONFIG, 0x00); err != nil {
		return nil, wrapf("selftest: error resetting gyroscope: %v", err)
	}
	time.Sleep(25 * time.Millisecond)

	// Get the self-test trim values.
	if stX, err := m.transport.readByte(reg.MPU9250_SELF_TEST_X_ACCEL); err == nil {
		stAccelX = stX
	} else {
		return nil, wrapf("selftest: error getting self-test accelerometer value X: %v", err)
	}
	if stY, err := m.transport.readByte(reg.MPU9250_SELF_TEST_Y_ACCEL); err == nil {
		stAccelY = stY
	} else {
		return nil, wrapf("selftest: error getting self-test accelerometer value Y: %v", err)
	}
	if stZ, err := m.transport.readByte(reg.MPU9250_SELF_TEST_Z_ACCEL); err == nil {
		stAccelZ = stZ
	} else {
		return nil, wrapf("selftest: error getting self-test accelerometer value Z: %v", err)
	}
	if gyX, err := m.transport.readByte(reg.MPU9250_SELF_TEST_X_GYRO); err == nil {
		stGyroX = gyX
	} else {
		return nil, wrapf("selftest: error getting self-test gyroscope value X: %v", err)
	}
	if gyY, err := m.transport.readByte(reg.MPU9250_SELF_TEST_Y_GYRO); err == nil {
		stGyroY = gyY
	} else {
		return nil, wrapf("selftest: error getting self-test gyroscope value Y: %v", err)
	}
	if gyZ, err := m.transport.readByte(reg.MPU9250_SELF_TEST_Z_GYRO); err == nil {
		stGyroZ = gyZ
	} else {
		return nil, wrapf("selftest: error getting self-test gyroscope value Z: %v", err)
	}

	m.debug("Self-Test accelerometer: X: %d, Y: %d, Z: %d\n          gyroscope:     X: %d, Y: %d, Z: %d\n", stAccelX, stAccelY, stAccelZ, stGyroX, stGyroY, stGyroZ)

	deviation := func(aSTAvg, aAvg int32, stV byte) float64 {
		factoryTrim := 2620.0 * (math.Pow(1.01, float64(stV)-1.0))
		return math.Abs(100.0*float64(aSTAvg-aAvg)/factoryTrim) - 100.0
	}

	return &SelfTestResult{
		AccelDeviation: Deviation{
			X: deviation(avgAccelX, avgSTAccelX, stAccelX),
			Y: deviation(avgAccelY, avgSTAccelY, stAccelY),
			Z: deviation(avgAccelZ, avgSTAccelZ, stAccelZ),
		},
		GyroDeviation: Deviation{
			X: deviation(avgGyroX, avgSTGyroX, stGyroX),
			Y: deviation(avgGyroY, avgSTGyroY, stGyroY),
			Z: deviation(avgGyroZ, avgSTGyroZ, stGyroZ),
		},
	}, nil
}

// SetClockSource sets clock source setting.
//
// An internal 8MHz oscillator, gyroscope based clock, or external sources can
// be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator
// or an external source is chosen as the clock source, the MPU-60X0 can operate
// in low power modes with the gyroscopes disabled.
//
// Upon power up, the MPU-60X0 clock source defaults to the internal oscillator.
// However, it is highly recommended that the device be configured to use one of
// the gyroscopes (or an external clock source) as the clock reference for
// improved stability. The clock source can be selected according to the
// following table:
//
//  CLK_SEL | Clock Source
//  --------+--------------------------------------
//  0       | Internal oscillator
//  1       | PLL with X Gyro reference
//  2       | PLL with Y Gyro reference
//  3       | PLL with Z Gyro reference
//  4       | PLL with external 32.768kHz reference
//  5       | PLL with external 19.2MHz reference
//  6       | Reserved
//  7       | Stops the clock and keeps the timing generator in reset
func (m *MPU9250) SetClockSource(src byte) error {
	if src > 7 {
		return wrapf("clock should be in range 0 .. 7")
	}
	return m.transport.writeMaskedReg(reg.MPU9250_PWR_MGMT_1, reg.MPU9250_CLKSEL_MASK, src)
}

// SetGyroRange sets the gyroscope range.
//
// The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
// as described in the table below.
//
//  0 = +/- 250 degrees/sec
//  1 = +/- 500 degrees/sec
//  2 = +/- 1000 degrees/sec
//  3 = +/- 2000 degrees/sec
func (m *MPU9250) SetGyroRange(rangeVal byte) error {
	if rangeVal > 3 {
		return wrapf("accepted values are in the range 0 .. 3")
	}
	return m.transport.writeMaskedReg(reg.MPU9250_GYRO_CONFIG, reg.MPU9250_GYRO_FS_SEL_MASK, rangeVal<<3)
}

// GetGyroRange gets the gyroscope range.
func (m *MPU9250) GetGyroRange() (byte, error) {
	b, err := m.transport.readMaskedReg(reg.MPU9250_GYRO_CONFIG, reg.MPU9250_GYRO_FS_SEL_MASK)
	return b >> 3, err // the mask is 11000
}

// SetAccelRange sets the full-scale accelerometer range.
//
// The FS_SEL parameter allows setting the full-scale range of the accelerometer
// sensors, as described in the table below.
//
//  0 = +/- 2g
//  1 = +/- 4g
//  2 = +/- 8g
//  3 = +/- 16g
func (m *MPU9250) SetAccelRange(rangeVal byte) error {
	if (rangeVal >> 3) > 3 {
		return wrapf("accepted values are in the range 0 .. 3")
	}
	return m.transport.writeMaskedReg(reg.MPU9250_ACCEL_CONFIG, reg.MPU9250_ACCEL_FS_SEL_MASK, rangeVal)
}

// GetAccelRange gets the full-scale accelerometer range.
func (m *MPU9250) GetAccelRange() (byte, error) {
	b, err := m.transport.readMaskedReg(reg.MPU9250_ACCEL_CONFIG, reg.MPU9250_ACCEL_FS_SEL_MASK)
	return b >> 3, err
}

// GetTempFIFOEnabled gets the temperature FIFO enabled value.
func (m *MPU9250) GetTempFIFOEnabled() (bool, error) {
	response, err := m.transport.readMaskedReg(reg.MPU9250_FIFO_EN, reg.MPU9250_TEMP_FIFO_EN_MASK)
	if err != nil {
		return false, err
	}
	return response != 0, nil
}

// SetTempFIFOEnabled sets the temperature FIFO enabled value.
//
// When set, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and 66)
// to be written into the FIFO buffer.
func (m *MPU9250) SetTempFIFOEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_FIFO_EN, reg.MPU9250_TEMP_FIFO_EN_MASK, boolByte(enabled, reg.MPU9250_TEMP_FIFO_EN_MASK))
}

// GetXGyroFIFOEnabled gets the gyroscope X-axis FIFO enabled value.
func (m *MPU9250) GetXGyroFIFOEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_FIFO_EN, reg.MPU9250_GYRO_XOUT_MASK)
}

// SetXGyroFIFOEnabled sets the gyroscope X-axis FIFO enabled value.
//
// When set, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and 68)
// to be written into the FIFO buffer.
func (m *MPU9250) SetXGyroFIFOEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_FIFO_EN, reg.MPU9250_GYRO_XOUT_MASK, boolByte(enabled, reg.MPU9250_GYRO_XOUT_MASK))
}

// GetYGyroFIFOEnabled gets the gyroscope Y-axis FIFO enabled value.
func (m *MPU9250) GetYGyroFIFOEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_FIFO_EN, reg.MPU9250_GYRO_YOUT_MASK)
}

// SetYGyroFIFOEnabled sets the gyroscope Y-axis FIFO enabled value.
//
// When set, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
// 70) to be written into the FIFO buffer.
func (m *MPU9250) SetYGyroFIFOEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_FIFO_EN, reg.MPU9250_GYRO_YOUT_MASK, boolByte(enabled, reg.MPU9250_GYRO_YOUT_MASK))
}

// GetZGyroFIFOEnabled gets the gyroscope Z-axis FIFO enabled value.
func (m *MPU9250) GetZGyroFIFOEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_FIFO_EN, reg.MPU9250_GYRO_ZOUT_MASK)
}

// SetZGyroFIFOEnabled sets the gyroscope Z-axis FIFO enabled value.
//
// When set, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and 72)
// to be written into the FIFO buffer.
func (m *MPU9250) SetZGyroFIFOEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_FIFO_EN, reg.MPU9250_GYRO_ZOUT_MASK, boolByte(enabled, reg.MPU9250_GYRO_ZOUT_MASK))
}

// GetAccelFIFOEnabled gets accelerometer FIFO enabled value.
func (m *MPU9250) GetAccelFIFOEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_FIFO_EN, reg.MPU9250_ACCEL_MASK)
}

// SetAccelFIFOEnabled sets accelerometer FIFO enabled value.
//
// When set, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
// ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be
// written into the FIFO buffer.
func (m *MPU9250) SetAccelFIFOEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_FIFO_EN, reg.MPU9250_ACCEL_MASK, boolByte(enabled, reg.MPU9250_ACCEL_MASK))
}

// GetSlave2FIFOEnabled gets Slave 2 FIFO enabled value.
func (m *MPU9250) GetSlave2FIFOEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_FIFO_EN, reg.MPU9250_SLV2_MASK)
}

// SetSlave2FIFOEnabled sets Slave 2 FIFO enabled value.
//
// When set, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
// associated with Slave 2 to be written into the FIFO buffer.
func (m *MPU9250) SetSlave2FIFOEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_FIFO_EN, reg.MPU9250_SLV2_MASK, boolByte(enabled, reg.MPU9250_SLV2_MASK))
}

// GetSlave1FIFOEnabled gets Slave 1 FIFO enabled value.
func (m *MPU9250) GetSlave1FIFOEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_FIFO_EN, reg.MPU9250_SLV1_MASK)
}

// SetSlave1FIFOEnabled sets Slave 1 FIFO enabled value.
//
// When set, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
// associated with Slave 1 to be written into the FIFO buffer.
func (m *MPU9250) SetSlave1FIFOEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_FIFO_EN, reg.MPU9250_SLV1_MASK, boolByte(enabled, reg.MPU9250_SLV1_MASK))
}

// GetSlave0FIFOEnabled gets Slave 0 FIFO enabled value.
func (m *MPU9250) GetSlave0FIFOEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_FIFO_EN, reg.MPU9250_SLV0_MASK)
}

// SetSlave0FIFOEnabled sets Slave 0 FIFO enabled value.
//
// When set, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
// associated with Slave 0 to be written into the FIFO buffer.
func (m *MPU9250) SetSlave0FIFOEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_FIFO_EN, reg.MPU9250_SLV0_MASK, boolByte(enabled, reg.MPU9250_SLV0_MASK))
}

// I2C_MST_CTRL register

// GetMultiMasterEnabled gets multi-master enabled value.
func (m *MPU9250) GetMultiMasterEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_I2C_MST_CTRL, reg.MPU9250_MULT_MST_EN_MASK)
}

// SetMultiMasterEnabled sets multi-master enabled value.
//
// Multi-master capability allows multiple I2C masters to operate on the same
// bus. In circuits where multi-master capability is required, set MULT_MST_EN
// to 1. This will increase current drawn by approximately 30uA.
//
// In circuits where multi-master capability is required, the state of the I2C
// bus must always be monitored by each separate I2C Master. Before an I2C
// Master can assume arbitration of the bus, it must first confirm that no other
// I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the
// MPU-60X0's bus arbitration detection logic is turned on, enabling it to
// detect when the bus is available.
func (m *MPU9250) SetMultiMasterEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_I2C_MST_CTRL, reg.MPU9250_MULT_MST_EN_MASK, boolByte(enabled, reg.MPU9250_MULT_MST_EN_MASK))
}

// GetWaitForExternalSensorEnabled gets wait-for-external-sensor-data enabled
// value.
func (m *MPU9250) GetWaitForExternalSensorEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_I2C_MST_CTRL, reg.MPU9250_WAIT_FOR_ES_MASK)
}

// SetWaitForExternalSensorEnabled enables wait-for-external-sensor-data.
//
// When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
// delayed until External Sensor data from the Slave Devices are loaded into the
// EXT_SENS_DATA registers. This is used to ensure that both the internal sensor
// data (i.e. from gyro and accel) and external sensor data have been loaded to
// their respective data registers (i.e. the data is synced) when the Data Ready
// interrupt is triggered.
func (m *MPU9250) SetWaitForExternalSensorEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_I2C_MST_CTRL, reg.MPU9250_WAIT_FOR_ES_MASK, boolByte(enabled, reg.MPU9250_WAIT_FOR_ES_MASK))
}

// GetSlave3FIFOEnabled gets Slave 3 FIFO enabled value.
func (m *MPU9250) GetSlave3FIFOEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_I2C_MST_CTRL, reg.MPU9250_SLV_3_FIFO_EN_MASK)
}

// SetSlave3FIFOEnabled sets Slave 3 FIFO enabled value.
//
// When set, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
// associated with Slave 3 to be written into the FIFO buffer.
func (m *MPU9250) SetSlave3FIFOEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_I2C_MST_CTRL, reg.MPU9250_SLV_3_FIFO_EN_MASK, boolByte(enabled, reg.MPU9250_SLV_3_FIFO_EN_MASK))
}

// GetSlaveReadWriteTransitionEnabled gets slave read/write transition enabled
// value.
func (m *MPU9250) GetSlaveReadWriteTransitionEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_I2C_MST_CTRL, reg.MPU9250_I2C_MST_P_NSR_MASK)
}

// SetSlaveReadWriteTransitionEnabled enables slave read/write transition.
//
// The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
// read to the next slave read. If the bit equals 0, there will be a restart
// between reads. If the bit equals 1, there will be a stop followed by a start
// of the following read. When a write transaction follows a read transaction,
// the stop followed by a start of the successive write will be always used.
func (m *MPU9250) SetSlaveReadWriteTransitionEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_I2C_MST_CTRL, reg.MPU9250_I2C_MST_P_NSR_MASK, boolByte(enabled, reg.MPU9250_I2C_MST_P_NSR_MASK))
}

// GetMasterClockSpeed gets I2C master clock speed.
func (m *MPU9250) GetMasterClockSpeed() (byte, error) {
	return m.transport.readMaskedReg(reg.MPU9250_I2C_MST_CTRL, reg.MPU9250_I2C_MST_CLK_MASK)
}

// SetMasterClockSpeed sets I2C master clock speed.
//
// I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
// MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed according to
// the following table:
//
//  I2C_MST_CLK | I2C Master Clock Speed | 8MHz Clock Divider
//  ------------+------------------------+-------------------
//  0           | 348kHz                 | 23
//  1           | 333kHz                 | 24
//  2           | 320kHz                 | 25
//  3           | 308kHz                 | 26
//  4           | 296kHz                 | 27
//  5           | 286kHz                 | 28
//  6           | 276kHz                 | 29
//  7           | 267kHz                 | 30
//  8           | 258kHz                 | 31
//  9           | 500kHz                 | 16
//  10          | 471kHz                 | 17
//  11          | 444kHz                 | 18
//  12          | 421kHz                 | 19
//  13          | 400kHz                 | 20
//  14          | 381kHz                 | 21
//  15          | 364kHz                 | 22
func (m *MPU9250) SetMasterClockSpeed(speed byte) error {
	// TODO: Use physic.Frequency.
	if speed > 15 {
		return wrapf("speed range 0 .. 15")
	}
	return m.transport.writeMaskedReg(reg.MPU9250_I2C_MST_CTRL, reg.MPU9250_I2C_MST_CLK_MASK, speed)
}

// I2C_SLV* registers (Slave 0-3)

// GetSlaveAddress gets the I2C address of the specified slave (0-3).
func (m *MPU9250) GetSlaveAddress(num byte) (byte, error) {
	if num > 3 {
		return 0, wrapf(slaveNumberError)
	}
	return m.transport.readByte(reg.MPU9250_I2C_SLV0_ADDR + num*3)
}

// SetSlaveAddress sets the I2C address of the specified slave (0-3).
//
// Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
// operation, and if it is cleared, then it's a write operation. The remaining
// bits (6-0) are the 7-bit device address of the slave device.
//
// In read mode, the result of the read is placed in the lowest available
// EXT_SENS_DATA register. For further information regarding the allocation of
// read results, please refer to the EXT_SENS_DATA register description
// (Registers 73 - 96).
//
// The MPU-6050 supports a total of five slaves, but Slave 4 has unique
// characteristics, and so it has its own functions (getSlave4* and setSlave4*).
//
// I2C data transactions are performed at the Sample Rate, as defined in
// Register 25. The user is responsible for ensuring that I2C data transactions
// to and from each enabled Slave can be completed within a single period of the
// Sample Rate.
//
// The I2C slave access rate can be reduced relative to the Sample Rate. This
// reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a
// slave's access rate is reduced relative to the Sample Rate is determined by
// I2C_MST_DELAY_CTRL (Register 103).
//
// The processing order for the slaves is fixed. The sequence followed for
// processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a
// particular Slave is disabled it will be skipped.
//
// Each slave can either be accessed at the sample rate or at a reduced sample
// rate. In a case where some slaves are accessed at the Sample Rate and some
// slaves are accessed at the reduced rate, the sequence of accessing the slaves
// (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will
// be skipped if their access rate dictates that they should not be accessed
// during that particular cycle. For further information regarding the reduced
// access rate, please refer to Register 52. Whether a slave is accessed at the
// Sample Rate or at the reduced rate is determined by the Delay Enable bits in
// Register 103.
func (m *MPU9250) SetSlaveAddress(num, address byte) error {
	if num > 3 {
		return wrapf(slaveNumberError)
	}
	return m.transport.writeByte(reg.MPU9250_I2C_SLV0_ADDR+num*3, address)
}

// GetSlaveRegister gets the active internal register for the specified slave
// (0-3).
func (m *MPU9250) GetSlaveRegister(num byte) (byte, error) {
	if num > 3 {
		return 0, wrapf(slaveNumberError)
	}
	return m.transport.readByte(reg.MPU9250_I2C_SLV0_REG + num*3)
}

// SetSlaveRegister sets the active internal register for the specified slave
// (0-3).
//
// Read/write operations for this slave will be done to whatever internal
// register address is stored in this MPU register.
//
// The MPU-6050 supports a total of five slaves, but Slave 4 has unique
// characteristics, and so it has its own functions.
func (m *MPU9250) SetSlaveRegister(num, r byte) error {
	if num > 3 {
		return wrapf(slaveNumberError)
	}
	return m.transport.writeByte(reg.MPU9250_I2C_SLV0_REG+num*3, r)
}

// GetSlaveEnabled gets the enabled value for the specified slave (0-3).
func (m *MPU9250) GetSlaveEnabled(num byte) (bool, error) {
	if num > 3 {
		return false, wrapf(slaveNumberError)
	}
	return m.readMaskedRegBool(reg.MPU9250_I2C_SLV0_CTRL+num*3, reg.MPU9250_I2C_SLV0_EN_MASK)
}

// SetSlaveEnabled sets the enabled value for the specified slave (0-3).
//
// When set, this bit enables Slave 0 for data transfer operations. When
// cleared to 0, this bit disables Slave 0 from data transfer operations.
func (m *MPU9250) SetSlaveEnabled(num byte, enabled bool) error {
	if num > 3 {
		return wrapf(slaveNumberError)
	}
	return m.transport.writeMaskedReg(reg.MPU9250_I2C_SLV0_CTRL+num*3, reg.MPU9250_I2C_SLV0_EN_MASK, boolByte(enabled, reg.MPU9250_I2C_SLV0_EN_MASK))
}

// GetSlaveWordByteSwap gets the word pair byte-swapping enabled for the
// specified slave (0-3).
func (m *MPU9250) GetSlaveWordByteSwap(num byte) (bool, error) {
	if num > 3 {
		return false, wrapf(slaveNumberError)
	}
	return m.readMaskedRegBool(reg.MPU9250_I2C_SLV0_CTRL+num*3, reg.MPU9250_I2C_SLV0_BYTE_SW_MASK)
}

// SetSlaveWordByteSwap sets the word pair byte-swapping enabled for the
// specified slave (0-3).
//
// When set, this bit enables byte swapping. When byte swapping is enabled, the
// high and low bytes of a word pair are swapped. Please refer to I2C_SLV0_GRP
// for the pairing convention of the word pairs. When cleared to 0, bytes
// transferred to and from Slave 0 will be written to EXT_SENS_DATA registers
// in the order they were transferred.
func (m *MPU9250) SetSlaveWordByteSwap(num byte, enabled bool) error {
	if num > 3 {
		return wrapf(slaveNumberError)
	}
	return m.transport.writeMaskedReg(reg.MPU9250_I2C_SLV0_CTRL+num*3, reg.MPU9250_I2C_SLV0_BYTE_SW_MASK, boolByte(enabled, reg.MPU9250_I2C_SLV0_BYTE_SW_MASK))
}

// GetSlaveWriteMode gets write mode for the specified slave (0-3).
func (m *MPU9250) GetSlaveWriteMode(num byte) (bool, error) {
	if num > 3 {
		return false, wrapf(slaveNumberError)
	}
	return m.readMaskedRegBool(reg.MPU9250_I2C_SLV0_CTRL+num*3, reg.MPU9250_I2C_SLV0_REG_DIS_MASK)
}

// SetSlaveWriteMode sets write mode for the specified slave (0-3).
//
// When set, the transaction will read or write data only. When cleared to 0,
// the transaction will write a register address prior to reading or writing
// data. This should equal 0 when specifying the register address within the
// Slave device to/from which the ensuing data transaction will take place.
func (m *MPU9250) SetSlaveWriteMode(num byte, mode bool) error {
	if num > 3 {
		return wrapf(slaveNumberError)
	}
	return m.transport.writeMaskedReg(reg.MPU9250_I2C_SLV0_CTRL+num*3, reg.MPU9250_I2C_SLV0_REG_DIS_MASK, boolByte(mode, reg.MPU9250_I2C_SLV0_REG_DIS_MASK))
}

// GetSlaveWordGroupOffset gets word pair grouping order offset for the
// specified slave (0-3).
func (m *MPU9250) GetSlaveWordGroupOffset(num byte) (bool, error) {
	if num > 3 {
		return false, wrapf(slaveNumberError)
	}
	return m.readMaskedRegBool(reg.MPU9250_I2C_SLV0_CTRL+num*3, reg.MPU9250_I2C_SLV0_GRP_MASK)
}

// SetSlaveWordGroupOffset enables word pair grouping order offset for the
// specified slave (0-3).
//
// This sets specifies the grouping order of word pairs received from registers.
// When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even,
// then odd register addresses) are paired to form a word. When set to 1, bytes
// from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
// register addresses) are paired to form a word.
func (m *MPU9250) SetSlaveWordGroupOffset(num byte, enabled bool) error {
	if num > 3 {
		return wrapf(slaveNumberError)
	}
	return m.transport.writeMaskedReg(reg.MPU9250_I2C_SLV0_CTRL+num*3, reg.MPU9250_I2C_SLV0_GRP_MASK, boolByte(enabled, reg.MPU9250_I2C_SLV0_GRP_MASK))
}

// GetSlaveDataLength gets number of bytes to read for the specified slave
// (0-3).
func (m *MPU9250) GetSlaveDataLength(num byte) (byte, error) {
	if num > 3 {
		return 0, wrapf(slaveNumberError)
	}
	return m.transport.readMaskedReg(reg.MPU9250_I2C_SLV0_CTRL+num*3, reg.MPU9250_I2C_SLV0_LENG_MASK)
}

// SetSlaveDataLength sets number of bytes to read for the specified slave
// (0-3).
//
// Specifies the number of bytes transferred to and from Slave 0. Clearing this
// bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
func (m *MPU9250) SetSlaveDataLength(num byte, length byte) error {
	if num > 3 {
		return wrapf(slaveNumberError)
	}
	return m.transport.writeMaskedReg(reg.MPU9250_I2C_SLV0_CTRL+num*3, reg.MPU9250_I2C_SLV0_LENG_MASK, length)
}

// I2C_SLV* registers (Slave 4)

// GetSlave4Address gets the I2C address of Slave 4.
func (m *MPU9250) GetSlave4Address() (byte, error) {
	return m.transport.readByte(reg.MPU9250_I2C_SLV4_ADDR)
}

// SetSlave4Address sets the I2C address of Slave 4.
//
// Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read
// operation, and if it is cleared, then it's a write operation. The remaining
// bits (6-0) are the 7-bit device address of the slave device.
func (m *MPU9250) SetSlave4Address(address byte) error {
	return m.transport.writeByte(reg.MPU9250_I2C_SLV4_ADDR, address)
}

// GetSlave4Register gets the active internal register for the Slave 4.
func (m *MPU9250) GetSlave4Register() (byte, error) {
	return m.transport.readByte(reg.MPU9250_I2C_SLV4_REG)
}

// SetSlave4Register sets the active internal register for Slave 4.
//
// Read/write operations for this slave will be done to whatever internal
// register address is stored in this MPU register.
func (m *MPU9250) SetSlave4Register(r byte) error {
	return m.transport.writeByte(reg.MPU9250_I2C_SLV4_REG, r)
}

// SetSlave4OutputByte sets new byte to write to Slave 4.
//
// This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
// is set 1 (set to read), this register has no effect.
func (m *MPU9250) SetSlave4OutputByte(data byte) error {
	return m.transport.writeByte(reg.MPU9250_I2C_SLV4_DO, data)
}

// GetSlave4Enabled gets the enabled value for the Slave 4.
func (m *MPU9250) GetSlave4Enabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_I2C_SLV4_CTRL, reg.MPU9250_I2C_SLV4_EN_MASK)
}

// SetSlave4Enabled sets the enabled value for Slave 4.
//
// When set, this bit enables Slave 4 for data transfer operations. When
// cleared to 0, this bit disables Slave 4 from data transfer operations.
func (m *MPU9250) SetSlave4Enabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_I2C_SLV4_CTRL, reg.MPU9250_I2C_SLV4_EN_MASK, boolByte(enabled, reg.MPU9250_I2C_SLV4_EN_MASK))
}

// GetSlave4InterruptEnabled gets the enabled value for Slave 4 transaction
// interrupts.
func (m *MPU9250) GetSlave4InterruptEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_I2C_SLV4_CTRL, reg.MPU9250_SLV4_DONE_INT_EN_MASK)
}

// SetSlave4InterruptEnabled sets the enabled value for Slave 4 transaction
// interrupts.
//
// When set, this bit enables the generation of an interrupt signal upon
// completion of a Slave 4 transaction. When cleared to 0, this bit disables
// the generation of an interrupt signal upon completion of a Slave 4
// transaction. The interrupt status can be observed in Register 54.
func (m *MPU9250) SetSlave4InterruptEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_I2C_SLV4_CTRL, reg.MPU9250_SLV4_DONE_INT_EN_MASK, boolByte(enabled, reg.MPU9250_SLV4_DONE_INT_EN_MASK))
}

// GetSlave4WriteMode gets write mode for Slave 4.
func (m *MPU9250) GetSlave4WriteMode() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_I2C_SLV4_CTRL, reg.MPU9250_I2C_SLV4_REG_DIS_MASK)
}

// SetSlave4WriteMode sets write mode for the Slave 4.
//
// When set, the transaction will read or write data only. When cleared to 0,
// the transaction will write a register address prior to reading or writing
// data. This should equal 0 when specifying the register address within the
// Slave device to/from which the ensuing data transaction will take place.
func (m *MPU9250) SetSlave4WriteMode(mode bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_I2C_SLV4_CTRL, reg.MPU9250_I2C_SLV4_REG_DIS_MASK, boolByte(mode, reg.MPU9250_I2C_SLV4_REG_DIS_MASK))
}

// GetSlave4MasterDelay gets Slave 4 master delay value.
func (m *MPU9250) GetSlave4MasterDelay() (byte, error) {
	return m.transport.readMaskedReg(reg.MPU9250_I2C_SLV4_CTRL, reg.MPU9250_I2C_MST_DLY_MASK)
}

// SetSlave4MasterDelay sets Slave 4 master delay value.
//
// This configures the reduced access rate of I2C slaves relative to the Sample
// Rate. When a slave's access rate is decreased relative to the Sample Rate,
// the slave is accessed every:
//
//     1 / (1 + I2C_MST_DLY) samples
//
// This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and
// DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to
// the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For
// further information regarding the Sample Rate, please refer to register 25.
func (m *MPU9250) SetSlave4MasterDelay(delay byte) error {
	return m.transport.writeMaskedReg(reg.MPU9250_I2C_SLV4_CTRL, reg.MPU9250_I2C_MST_DLY_MASK, delay)
}

// GetSlave4InputByte gets last available byte read from Slave 4.
//
// This register stores the data read from Slave 4. This field is populated
// after a read transaction.
func (m *MPU9250) GetSlave4InputByte() (byte, error) {
	return m.transport.readByte(reg.MPU9250_I2C_SLV4_DI)
}

// I2C_MST_STATUS register

// GetPassthroughStatus gets FSYNC interrupt status.
//
// This bit reflects the status of the FSYNC interrupt from an external device
// into the MPU-60X0. This is used as a way to pass an external interrupt
// through the MPU-60X0 to the host application processor. When set to 1, this
// bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG
// (Register 55).
func (m *MPU9250) GetPassthroughStatus() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_I2C_MST_STATUS, reg.MPU9250_PASS_THROUGH_MASK)
}

// GetSlave4IsDone gets Slave 4 transaction done status.
//
// Automatically sets to 1 when a Slave 4 transaction has completed. This
// triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register
// (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the
// I2C_SLV4_CTRL register (Register 52).
func (m *MPU9250) GetSlave4IsDone() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_I2C_MST_STATUS, reg.MPU9250_I2C_SLV4_DONE_MASK)
}

// GetLostArbitration gets master arbitration lost status.
//
// This bit automatically sets to 1 when the I2C Master has lost arbitration of
// the auxiliary I2C bus (an error condition). This triggers an interrupt if the
// I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
func (m *MPU9250) GetLostArbitration() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_I2C_MST_STATUS, reg.MPU9250_I2C_LOST_ARB_MASK)
}

// GetSlave4Nack gets Slave 4 NACK status.
//
// This bit automatically sets to 1 when the I2C Master receives a NACK in a
// transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN
// bit in the INT_ENABLE register (Register 56) is asserted.
func (m *MPU9250) GetSlave4Nack() (bool, error) {
	// Generalize all 4.
	return m.readMaskedRegBool(reg.MPU9250_I2C_MST_STATUS, reg.MPU9250_I2C_SLV4_NACK_MASK)
}

// GetSlave3Nack gets Slave 3 NACK status.
//
// This bit automatically sets to 1 when the I2C Master receives a NACK in a
// transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN
// bit in the INT_ENABLE register (Register 56) is asserted.
func (m *MPU9250) GetSlave3Nack() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_I2C_MST_STATUS, reg.MPU9250_I2C_SLV3_NACK_MASK)
}

// GetSlave2Nack gets Slave 2 NACK status.
//
// This bit automatically sets to 1 when the I2C Master receives a NACK in a
// transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN
// bit in the INT_ENABLE register (Register 56) is asserted.
func (m *MPU9250) GetSlave2Nack() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_I2C_MST_STATUS, reg.MPU9250_I2C_SLV2_NACK_MASK)
}

// GetSlave1Nack gets Slave 1 NACK status.
//
// This bit automatically sets to 1 when the I2C Master receives a NACK in a
// transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN
// bit in the INT_ENABLE register (Register 56) is asserted.
func (m *MPU9250) GetSlave1Nack() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_I2C_MST_STATUS, reg.MPU9250_I2C_SLV1_NACK_MASK)
}

// GetSlave0Nack gets Slave 0 NACK status.
//
// This bit automatically sets to 1 when the I2C Master receives a NACK in a
// transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN
// bit in the INT_ENABLE register (Register 56) is asserted.
func (m *MPU9250) GetSlave0Nack() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_I2C_MST_STATUS, reg.MPU9250_I2C_SLV0_NACK_MASK)
}

// INT_PIN_CFG register

// GetInterruptMode gets interrupt logic level mode.
//
// Is false for active-high, true for active-low.
func (m *MPU9250) GetInterruptMode() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_INT_PIN_CFG, reg.MPU9250_ACTL_MASK)
}

// SetInterruptMode sets interrupt logic level mode.
//
// Is false for active-high, true for active-low.
func (m *MPU9250) SetInterruptMode(mode bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_INT_PIN_CFG, reg.MPU9250_ACTL_MASK, boolByte(mode, reg.MPU9250_ACTL_MASK))
}

// GetInterruptDrive gets interrupt drive mode.
//
// Will be set false for push-pull, true for open-drain.
func (m *MPU9250) GetInterruptDrive() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_INT_PIN_CFG, reg.MPU9250_OPEN_MASK)
}

// SetInterruptDrive sets interrupt drive mode.
//
// New interrupt drive mode (false for push-pull, true for open-drain).
func (m *MPU9250) SetInterruptDrive(drive bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_INT_PIN_CFG, reg.MPU9250_OPEN_MASK, boolByte(drive, reg.MPU9250_OPEN_MASK))
}

// GetInterruptLatch gets interrupt latch mode.
//
// Is false for 50us-pulse, true for latch-until-int-cleared.
func (m *MPU9250) GetInterruptLatch() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_INT_PIN_CFG, reg.MPU9250_LATCH_INT_EN_MASK)
}

// SetInterruptLatch sets interrupt latch mode.
//
// New latch mode (false is 50us-pulse, true is latch-until-int-cleared).
func (m *MPU9250) SetInterruptLatch(latch bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_INT_PIN_CFG, reg.MPU9250_LATCH_INT_EN_MASK, boolByte(latch, reg.MPU9250_LATCH_INT_EN_MASK))
}

// GetInterruptLatchClear gets the interrupt latch clear mode.
//
// Is false for status-read-only, true for any-register-read.
func (m *MPU9250) GetInterruptLatchClear() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_INT_PIN_CFG, reg.MPU9250_INT_ANYRD_2CLEAR_MASK)
}

// SetInterruptLatchClear sets the interrupt latch clear mode.
//
// New latch clear mode (false is status-read-only, true is any-register-read).
func (m *MPU9250) SetInterruptLatchClear(clear bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_INT_PIN_CFG, reg.MPU9250_INT_ANYRD_2CLEAR_MASK, boolByte(clear, reg.MPU9250_INT_ANYRD_2CLEAR_MASK))
}

// GetFSyncInterruptLevel gets the FSYNC interrupt logic level mode.
func (m *MPU9250) GetFSyncInterruptLevel() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_INT_PIN_CFG, reg.MPU9250_FSYNC_INT_MODE_EN_MASK)
}

// SetFSyncInterruptLevel sets the FSYNC interrupt logic level mode.
//
// New FSYNC interrupt mode (false is active-high, true is active-low).
func (m *MPU9250) SetFSyncInterruptLevel(level bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_INT_PIN_CFG, reg.MPU9250_FSYNC_INT_MODE_EN_MASK, boolByte(level, reg.MPU9250_FSYNC_INT_MODE_EN_MASK))
}

// GetFSyncInterruptEnabled gets the FSYNC pin interrupt enabled setting.
func (m *MPU9250) GetFSyncInterruptEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_INT_ENABLE, reg.MPU9250_FSYNC_INT_EN_MASK)
}

// SetFSyncInterruptEnabled sets the FSYNC pin interrupt enabled setting.
func (m *MPU9250) SetFSyncInterruptEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_INT_ENABLE, reg.MPU9250_FSYNC_INT_EN_MASK, boolByte(enabled, reg.MPU9250_FSYNC_INT_EN_MASK))
}

// GetI2CBypassEnabled gets the I2C bypass enabled status.
func (m *MPU9250) GetI2CBypassEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_INT_PIN_CFG, reg.MPU9250_BYPASS_EN_MASK)
}

// SetI2CBypassEnabled sets the I2C bypass enabled status.
//
// When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
// 0, the host application processor will be able to directly access the
// auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host
// application processor will not be able to directly access the auxiliary I2C
// bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106
// bit[5]).
func (m *MPU9250) SetI2CBypassEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_INT_PIN_CFG, reg.MPU9250_BYPASS_EN_MASK, boolByte(enabled, reg.MPU9250_BYPASS_EN_MASK))
}

// INT_ENABLE register

// GetIntEnabled gets the full interrupt enabled status.
func (m *MPU9250) GetIntEnabled() (byte, error) {
	return m.transport.readByte(reg.MPU9250_INT_ENABLE)
}

// SetIntEnabled sets the full interrupt enabled status.
//
// Full register byte for all interrupts, for quick reading. Each bit will be
// set 0 for disabled, 1 for enabled.
func (m *MPU9250) SetIntEnabled(enabled byte) error {
	return m.transport.writeByte(reg.MPU9250_INT_ENABLE, enabled)
}

// GetIntFIFOBufferOverflowEnabled gets the FIFO Buffer Overflow interrupt
// enabled status.
func (m *MPU9250) GetIntFIFOBufferOverflowEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_INT_ENABLE, reg.MPU9250_FIFO_OFLOW_EN_MASK)
}

// SetIntFIFOBufferOverflowEnabled sets the FIFO Buffer Overflow interrupt
// enabled status.
func (m *MPU9250) SetIntFIFOBufferOverflowEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_INT_ENABLE, reg.MPU9250_FIFO_OFLOW_EN_MASK, boolByte(enabled, reg.MPU9250_FIFO_OFLOW_EN_MASK))
}

// GetIntI2CMasterEnabled gets the I2C Master interrupt enabled status.
func (m *MPU9250) GetIntI2CMasterEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_USER_CTRL, reg.MPU9250_I2C_MST_EN_MASK)
}

// SetIntI2CMasterEnabled sets the I2C Master interrupt enabled status.
//
// This enables any of the I2C Master interrupt sources to generate an
// interrupt.
func (m *MPU9250) SetIntI2CMasterEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_USER_CTRL, reg.MPU9250_I2C_MST_EN_MASK, boolByte(enabled, reg.MPU9250_I2C_MST_EN_MASK))
}

// INT_STATUS register

// GetIntStatus get the full set of interrupt status bits.
//
// These bits clear to 0 after the register has been read. Very useful
// for getting multiple INT statuses, since each single bit read clears
// all of them because it has to read the whole byte.
func (m *MPU9250) GetIntStatus() (byte, error) {
	return m.transport.readByte(reg.MPU9250_INT_STATUS)
}

// SIGNAL_PATH_RESET register

// ResetGyroscopePath resets the gyroscope signal path.
//
// The reset will revert the signal path analog to digital converters and
// filters to their power up configurations.
func (m *MPU9250) ResetGyroscopePath() error {
	// TODO: remove, only keep Reset().
	return m.transport.writeMaskedReg(reg.MPU9250_SIGNAL_PATH_RESET, reg.MPU9250_GYRO_RST_MASK, reg.MPU9250_GYRO_RST_MASK)
}

// ResetAccelerometerPath resets the accelerometer signal path.
//
// The reset will revert the signal path analog to digital converters and
// filters to their power up configurations.
func (m *MPU9250) ResetAccelerometerPath() error {
	// TODO: remove, only keep Reset().
	return m.transport.writeMaskedReg(reg.MPU9250_SIGNAL_PATH_RESET, reg.MPU9250_ACCEL_RST_MASK, reg.MPU9250_ACCEL_RST_MASK)
}

// ResetTemperaturePath resets the temperature sensor signal path.
//
// The reset will revert the signal path analog to digital converters and
// filters to their power up configurations.
func (m *MPU9250) ResetTemperaturePath() error {
	// TODO: remove, only keep Reset().
	return m.transport.writeMaskedReg(reg.MPU9250_SIGNAL_PATH_RESET, reg.MPU9250_TEMP_RST_MASK, reg.MPU9250_TEMP_RST_MASK)
}

// USER_CTRL register

// GetFIFOEnabled gets the FIFO enabled status.
func (m *MPU9250) GetFIFOEnabled() (bool, error) {
	// TODO: remove.
	return m.readMaskedRegBool(reg.MPU9250_USER_CTRL, reg.MPU9250_FIFO_EN_MASK)
}

// SetFIFOEnabled sets the FIFO enabled status.
//
// When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer
// cannot be written to or read from while disabled. The FIFO buffer's state
// does not change unless the MPU-60X0 is power cycled.
func (m *MPU9250) SetFIFOEnabled(enabled bool) error {
	// TODO: remove, should always be set.
	return m.transport.writeMaskedReg(reg.MPU9250_USER_CTRL, reg.MPU9250_FIFO_EN_MASK, boolByte(enabled, reg.MPU9250_FIFO_EN_MASK))
}

// GetI2CMasterModeEnabled gets the I2C Master Mode enabled status.
func (m *MPU9250) GetI2CMasterModeEnabled() (bool, error) {
	// TODO: remove.
	return m.readMaskedRegBool(reg.MPU9250_USER_CTRL, reg.MPU9250_I2C_MST_EN_MASK)
}

// SetI2CMasterModeEnabled sets the I2C Master Mode enabled status.
//
// When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
// external sensor slave devices on the auxiliary I2C bus. When this bit is
// cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically
// driven by the primary I2C bus (SDA and SCL). This is a precondition to
// enabling Bypass Mode. For further information regarding Bypass Mode, please
// refer to Register 55.
func (m *MPU9250) SetI2CMasterModeEnabled(enabled bool) error {
	// TODO: Should be an argument to New().
	return m.transport.writeMaskedReg(reg.MPU9250_USER_CTRL, reg.MPU9250_I2C_MST_EN_MASK, boolByte(enabled, reg.MPU9250_I2C_MST_EN_MASK))
}

// SwitchSPIEnabled switches from I2C to SPI mode (MPU-6000 only)
//
// If this is set, the primary SPI interface will be enabled in place of the
// disabled primary I2C interface.
func (m *MPU9250) SwitchSPIEnabled(enabled bool) error {
	// TODO: Should be an argument to New().
	return m.transport.writeMaskedReg(reg.MPU9250_USER_CTRL, reg.MPU9250_I2C_IF_DIS_MASK, boolByte(enabled, reg.MPU9250_I2C_IF_DIS_MASK))
}

// ResetFIFO resets the FIFO.
//
// This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
// bit automatically clears to 0 after the reset has been triggered.
func (m *MPU9250) ResetFIFO() error {
	// TODO: Only keep Reset() ?
	return m.transport.writeMaskedReg(reg.MPU9250_USER_CTRL, reg.MPU9250_FIFO_RST_MASK, reg.MPU9250_FIFO_RST_MASK)
}

// ResetI2CMaster resets the I2C Master.
//
// This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
// This bit automatically clears to 0 after the reset has been triggered.
func (m *MPU9250) ResetI2CMaster() error {
	// TODO: Only keep Reset() ?
	return m.transport.writeMaskedReg(reg.MPU9250_USER_CTRL, reg.MPU9250_I2C_MST_RST_MASK, reg.MPU9250_I2C_MST_RST_MASK)
}

// ResetSensors resets all sensor registers and signal paths.
//
// When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
// accelerometers, and temperature sensor). This operation will also clear the
// sensor registers. This bit automatically clears to 0 after the reset has been
// triggered.
//
// When resetting only the signal path (and not the sensor registers), please
// use Register 104, SIGNAL_PATH_RESET.
func (m *MPU9250) ResetSensors() error {
	// TODO: Only keep Reset() ?
	return m.transport.writeMaskedReg(reg.MPU9250_USER_CTRL, reg.MPU9250_SIG_COND_RST_MASK, reg.MPU9250_SIG_COND_RST_MASK)
}

// Reset triggers a full device reset.
//
// A small delay of ~50ms may be desirable after triggering a reset.
func (m *MPU9250) Reset() error {
	// TODO: the driver should handle the delay transparently.
	return m.transport.writeMaskedReg(reg.MPU9250_PWR_MGMT_1, reg.MPU9250_H_RESET_MASK, reg.MPU9250_H_RESET_MASK)
}

// GetSleepEnabled gets the sleep mode status.
func (m *MPU9250) GetSleepEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_PWR_MGMT_1, reg.MPU9250_SLEEP_MASK)
}

// SetSleepEnabled set sleep mode status.
//
// Setting the SLEEP bit in the register puts the device into very low power
// sleep mode. In this mode, only the serial interface and internal registers
// remain active, allowing for a very low standby current. Clearing this bit
// puts the device back into normal mode. To save power, the individual standby
// selections for each of the gyros should be used if any gyro axis is not used
// by the application.
func (m *MPU9250) SetSleepEnabled(enabled bool) error {
	// TODO: rename to Sleep() or something like that.
	return m.transport.writeMaskedReg(reg.MPU9250_PWR_MGMT_1, reg.MPU9250_SLEEP_MASK, boolByte(enabled, reg.MPU9250_SLEEP_MASK))
}

// GetWakeCycleEnabled gets the wake cycle enabled status.
func (m *MPU9250) GetWakeCycleEnabled() (bool, error) {
	return m.readMaskedRegBool(reg.MPU9250_PWR_MGMT_1, reg.MPU9250_CYCLE_MASK)
}

// SetWakeCycleEnabled sets the wake cycle enabled status.
//
// When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
// between sleep mode and waking up to take a single sample of data from active
// sensors at a rate determined by LP_WAKE_CTRL (register 108).
func (m *MPU9250) SetWakeCycleEnabled(enabled bool) error {
	return m.transport.writeMaskedReg(reg.MPU9250_PWR_MGMT_1, reg.MPU9250_CYCLE_MASK, boolByte(enabled, reg.MPU9250_CYCLE_MASK))
}

// GetClockSource gets the clock source setting.
func (m *MPU9250) GetClockSource() (byte, error) {
	return m.transport.readMaskedReg(reg.MPU9250_PWR_MGMT_1, reg.MPU9250_CLKSEL_MASK)
}

// GetDeviceID returns the device ID.
func (m *MPU9250) GetDeviceID() (byte, error) {
	// TODO: cache.
	return m.transport.readByte(reg.MPU9250_WHO_AM_I)
}

// FIFO_COUNT* registers

// GetFIFOCount gets the current FIFO buffer size.
//
// This value indicates the number of bytes stored in the FIFO buffer. This
// number is in turn the number of bytes that can be read from the FIFO buffer
// and it is directly proportional to the number of samples available given the
// set of sensor data bound to be stored in the FIFO (register 35 and 36).
func (m *MPU9250) GetFIFOCount() (uint16, error) {
	// TODO: make private.
	return m.transport.readUint16(reg.MPU9250_FIFO_COUNTH, reg.MPU9250_FIFO_COUNTL)
}

// FIFO_R_W register

// GetFIFOByte Get byte from FIFO buffer.
//
// This register is used to read and write data from the FIFO buffer. Data is
// written to the FIFO in order of register number (from lowest to highest). If
// all the FIFO enable flags (see below) are enabled and all External Sensor
// Data registers (Registers 73 to 96) are associated with a Slave device, the
// contents of registers 59 through 96 will be written in order at the Sample
// Rate.
//
// The contents of the sensor data registers (Registers 59 to 96) are written
// into the FIFO buffer when their corresponding FIFO enable flags are set to 1
// in FIFO_EN (Register 35). An additional flag for the sensor data registers
// associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36).
//
// If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is
// automatically set to 1. This bit is located in INT_STATUS (Register 58).
// When the FIFO buffer has overflowed, the oldest data will be lost and new
// data will be written to the FIFO.
//
// If the FIFO buffer is empty, reading this register will return the last byte
// that was previously read from the FIFO until new data is available. The user
// should check FIFO_COUNT to ensure that the FIFO buffer is not read when
// empty.
func (m *MPU9250) GetFIFOByte() (byte, error) {
	// TODO: make private.
	return m.transport.readByte(reg.MPU9250_FIFO_R_W)
}

// SetFIFOByte writes byte to FIFO buffer.
func (m *MPU9250) SetFIFOByte(data byte) error {
	// TODO: make private.
	return m.transport.writeByte(reg.MPU9250_FIFO_R_W, data)
}

// GetXGyroOffset returns the offset of X gyroscope.
func (m *MPU9250) GetXGyroOffset() (uint16, error) {
	return m.getOffset(reg.MPU9250_XG_OFFSET_H, reg.MPU9250_XG_OFFSET_L)
}

// SetXGyroOffset sets the X gyroscope offset.
func (m *MPU9250) SetXGyroOffset(offset uint16) error {
	return m.setOffset(reg.MPU9250_XG_OFFSET_H, reg.MPU9250_XG_OFFSET_L, offset)
}

// GetYGyroOffset returns the offset of y gyroscope.
func (m *MPU9250) GetYGyroOffset() (uint16, error) {
	return m.getOffset(reg.MPU9250_YG_OFFSET_H, reg.MPU9250_YG_OFFSET_L)
}

// SetZGyroOffset sets the Z gyroscope offset.
func (m *MPU9250) SetZGyroOffset(offset uint16) error {
	return m.setOffset(reg.MPU9250_ZG_OFFSET_H, reg.MPU9250_ZG_OFFSET_L, offset)
}

// GetZGyroOffset returns the offset of Z gyroscope.
func (m *MPU9250) GetZGyroOffset() (uint16, error) {
	return m.getOffset(reg.MPU9250_ZG_OFFSET_H, reg.MPU9250_ZG_OFFSET_L)
}

// SetYGyroOffset sets the Y gyroscope offset.
func (m *MPU9250) SetYGyroOffset(offset uint16) error {
	return m.setOffset(reg.MPU9250_YG_OFFSET_H, reg.MPU9250_YG_OFFSET_L, offset)
}

// EnableAccelerometerAxis enables an accelerometer axis.
//
// axis is one of MPU9250_DISABLE_XA_MASK, MPU9250_DISABLE_YA_MASK,
// MPU9250_DISABLE_ZA_MASK.
func (m *MPU9250) EnableAccelerometerAxis(axis byte) error {
	return m.transport.writeMaskedReg(reg.MPU9250_PWR_MGMT_2, axis, 0)
}

// DisableAccelerometerAxis disables an accelerometer axis.
//
// axis is one of MPU9250_DISABLE_XA_MASK, MPU9250_DISABLE_YA_MASK,
// MPU9250_DISABLE_ZA_MASK.
func (m *MPU9250) DisableAccelerometerAxis(axis byte) error {
	// TODO: Remove.
	return m.transport.writeMaskedReg(reg.MPU9250_PWR_MGMT_2, axis, axis)
}

// EnableAccelerometer enables the accelerometer.
func (m *MPU9250) EnableAccelerometer() error {
	// TODO: Remove, always enable.
	return m.transport.writeMaskedReg(reg.MPU9250_PWR_MGMT_2, reg.MPU9250_DISABLE_XYZA_MASK, 0)
}

// GetAccelerometerTestData gets the self-test data values from the registers.
func (m *MPU9250) GetAccelerometerTestData() (*AccelerometerData, error) {
	// TODO: make private.
	x, err := m.transport.readByte(reg.MPU9250_SELF_TEST_X_ACCEL)
	if err != nil {
		return nil, err
	}
	y, err := m.transport.readByte(reg.MPU9250_SELF_TEST_Y_ACCEL)
	if err != nil {
		return nil, err
	}
	z, err := m.transport.readByte(reg.MPU9250_SELF_TEST_Z_ACCEL)
	if err != nil {
		return nil, err
	}
	return &AccelerometerData{X: int16(x), Y: int16(y), Z: int16(z)}, nil
}

// AccelerometerXIsEnabled gets the X accelerometer status.
func (m *MPU9250) AccelerometerXIsEnabled() (bool, error) {
	return negateBool(m.readMaskedRegBool(reg.MPU9250_PWR_MGMT_2, reg.MPU9250_DISABLE_XA_MASK))
}

// AccelerometerYIsEnabled gets the X accelerometer status.
func (m *MPU9250) AccelerometerYIsEnabled() (bool, error) {
	return negateBool(m.readMaskedRegBool(reg.MPU9250_PWR_MGMT_2, reg.MPU9250_DISABLE_YA_MASK))
}

// AccelerometerZIsEnabled gets the Z accelerometer status.
func (m *MPU9250) AccelerometerZIsEnabled() (bool, error) {
	return negateBool(m.readMaskedRegBool(reg.MPU9250_PWR_MGMT_2, reg.MPU9250_DISABLE_ZA_MASK))
}

// GetAccelerationX reads the X-axis accelerometer.
func (m *MPU9250) GetAccelerationX() (int16, error) {
	if enabled, err := m.AccelerometerXIsEnabled(); err == nil && enabled {
		return uintToInt(m.ReadWord(reg.MPU9250_ACCEL_XOUT_H, reg.MPU9250_ACCEL_XOUT_L))
	} else if !enabled {
		return 0, wrapf("X acceleration disabled")
	} else {
		return 0, err
	}
}

// GetAccelerationY reads the Y-axis accelerometer.
func (m *MPU9250) GetAccelerationY() (int16, error) {
	if enabled, err := m.AccelerometerYIsEnabled(); err == nil && enabled {
		return uintToInt(m.ReadWord(reg.MPU9250_ACCEL_YOUT_H, reg.MPU9250_ACCEL_YOUT_L))
	} else if !enabled {
		return 0, wrapf("Y acceleration disabled")
	} else {
		return 0, err
	}
}

// GetAccelerationZ reads the Z-axis accelerometer.
func (m *MPU9250) GetAccelerationZ() (int16, error) {
	if enabled, err := m.AccelerometerZIsEnabled(); err == nil && enabled {
		return uintToInt(m.ReadWord(reg.MPU9250_ACCEL_ZOUT_H, reg.MPU9250_ACCEL_ZOUT_L))
	} else if !enabled {
		return 0, wrapf("Z acceleration disabled")
	} else {
		return 0, err
	}
}

// SetAccelerationOffsetZ sets the acceleration trim offset for Z axis.
func (m *MPU9250) SetAccelerationOffsetZ(offset uint16) error {
	return m.setOffset(reg.MPU9250_ZA_OFFSET_H, reg.MPU9250_ZA_OFFSET_L, offset)
}

// SetAccelerationOffsetY sets the acceleration trim offset for Y axis.
func (m *MPU9250) SetAccelerationOffsetY(offset uint16) error {
	return m.setOffset(reg.MPU9250_YA_OFFSET_H, reg.MPU9250_YA_OFFSET_L, offset)
}

// SetAccelerationOffsetX sets the acceleration trim offset for X axis.
func (m *MPU9250) SetAccelerationOffsetX(offset uint16) error {
	return m.setOffset(reg.MPU9250_XA_OFFSET_H, reg.MPU9250_XA_OFFSET_L, offset)
}

// GetAcceleration reads the 3-axis accelerometer.
//
// These registers store the most recent accelerometer measurements.
// Accelerometer measurements are written to these registers at the Sample Rate
// as defined in Register 25.
//
// The accelerometer measurement registers, along with the temperature
// measurement registers, gyroscope measurement registers, and external sensor
// data registers, are composed of two sets of registers: an internal register
// set and a user-facing read register set.
//
// The data within the accelerometer sensors' internal register set is always
// updated at the Sample Rate. Meanwhile, the user-facing read register set
// duplicates the internal register set's data values whenever the serial
// interface is idle. This guarantees that a burst read of sensor registers will
// read measurements from the same sampling instant. Note that if burst reads
// are not used, the user is responsible for ensuring a set of single byte reads
// correspond to a single sampling instant by checking the Data Ready interrupt.
//
// Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS
// (Register 28). For each full scale setting, the accelerometers' sensitivity
// per LSB in ACCEL_xOUT is shown in the table below:
//
//  AFS_SEL | Full Scale Range | LSB Sensitivity
//  --------+------------------+----------------
//  0       | +/- 2g           | 8192 LSB/mg
//  1       | +/- 4g           | 4096 LSB/mg
//  2       | +/- 8g           | 2048 LSB/mg
//  3       | +/- 16g          | 1024 LSB/mg
func (m *MPU9250) GetAcceleration() (*AccelerometerData, error) {
	x, err := m.GetAccelerationX()
	if err != nil {
		return nil, err
	}
	y, err := m.GetAccelerationY()
	if err != nil {
		return nil, err
	}
	z, err := m.GetAccelerationZ()
	if err != nil {
		return nil, err
	}
	return &AccelerometerData{X: x, Y: y, Z: z}, nil
}

// Gyroscope functions.

// GetGyroTestData gets the test data from self-test registers, factory
// settings.
func (m *MPU9250) GetGyroTestData() (*GyroscopeData, error) {
	x, err := m.transport.readByte(reg.MPU9250_SELF_TEST_X_GYRO)
	if err != nil {
		return nil, err
	}
	y, err := m.transport.readByte(reg.MPU9250_SELF_TEST_Y_GYRO)
	if err != nil {
		return nil, err
	}
	z, err := m.transport.readByte(reg.MPU9250_SELF_TEST_Z_GYRO)
	if err != nil {
		return nil, err
	}
	return &GyroscopeData{X: int16(x), Y: int16(y), Z: int16(z)}, nil
}

// EnableGyro enables the gyroscope.
func (m *MPU9250) EnableGyro() error {
	return m.transport.writeMaskedReg(reg.MPU9250_PWR_MGMT_2, reg.MPU9250_DISABLE_XYZG_MASK, 0)
}

// DisableGyro disables the gyroscope.
func (m *MPU9250) DisableGyro() error {
	return m.transport.writeMaskedReg(reg.MPU9250_PWR_MGMT_2, reg.MPU9250_DISABLE_XYZG_MASK, reg.MPU9250_DISABLE_XYZG_MASK)
}

// GyroXIsEnabled gets the X axis enabled flag.
func (m *MPU9250) GyroXIsEnabled() (bool, error) {
	//WARNING: this should be verified here
	return negateBool(m.readMaskedRegBool(reg.MPU9250_PWR_MGMT_2, reg.MPU9250_DISABLE_XG_MASK))
}

// GyroYIsEnabled gets the Y axis enabled flag.
func (m *MPU9250) GyroYIsEnabled() (bool, error) {
	//WARNING: this should be verified here
	return negateBool(m.readMaskedRegBool(reg.MPU9250_PWR_MGMT_2, reg.MPU9250_DISABLE_YG_MASK))
}

// GyroZIsEnabled gets the Z axis enabled flag.
func (m *MPU9250) GyroZIsEnabled() (bool, error) {
	//WARNING: this should be verified here
	return negateBool(m.readMaskedRegBool(reg.MPU9250_PWR_MGMT_2, reg.MPU9250_DISABLE_ZG_MASK))
}

// GetRotationX gets X-axis gyroscope reading.
func (m *MPU9250) GetRotationX() (int16, error) {
	if enabled, err := m.GyroXIsEnabled(); enabled && err == nil {
		return asInt16(m.ReadWord(reg.MPU9250_GYRO_XOUT_H, reg.MPU9250_GYRO_XOUT_L))
	} else if !enabled {
		return 0, wrapf("X rotation disabled")
	} else {
		return 0, err
	}
}

// GetRotationY gets Y-axis gyroscope reading.
func (m *MPU9250) GetRotationY() (int16, error) {
	if enabled, err := m.GyroYIsEnabled(); enabled && err == nil {
		return asInt16(m.ReadWord(reg.MPU9250_GYRO_YOUT_H, reg.MPU9250_GYRO_YOUT_L))
	} else if !enabled {
		return 0, wrapf("Y rotation disabled")
	} else {
		return 0, err
	}
}

// GetRotationZ gets Z-axis gyroscope reading.
func (m *MPU9250) GetRotationZ() (int16, error) {
	if enabled, err := m.GyroZIsEnabled(); enabled && err == nil {
		return asInt16(m.ReadWord(reg.MPU9250_GYRO_ZOUT_H, reg.MPU9250_GYRO_ZOUT_L))
	} else if !enabled {
		return 0, wrapf("Z rotation disabled")
	} else {
		return 0, err
	}
}

// GetRotation reads the 3-axis gyroscope.
//
// These gyroscope measurement registers, along with the accelerometer
// measurement registers, temperature measurement registers, and external sensor
// data registers, are composed of two sets of registers: an internal register
// set and a user-facing read register set.
// The data within the gyroscope sensors' internal register set is always
// updated at the Sample Rate. Meanwhile, the user-facing read register set
// duplicates the internal register set's data values whenever the serial
// interface is idle. This guarantees that a burst read of sensor registers will
// read measurements from the same sampling instant. Note that if burst reads
// are not used, the user is responsible for ensuring a set of single byte reads
// correspond to a single sampling instant by checking the Data Ready interrupt.
//
// Each 16-bit gyroscope measurement has a full scale defined in FS_SEL
// (Register 27). For each full scale setting, the gyroscopes' sensitivity per
// LSB in GYRO_xOUT is shown in the table below:
//
//  FS_SEL | Full Scale Range   | LSB Sensitivity
//  -------+--------------------+----------------
//  0      | +/- 250 degrees/s  | 131 LSB/deg/s
//  1      | +/- 500 degrees/s  | 65.5 LSB/deg/s
//  2      | +/- 1000 degrees/s | 32.8 LSB/deg/s
//  3      | +/- 2000 degrees/s | 16.4 LSB/deg/s
func (m *MPU9250) GetRotation() (*RotationData, error) {
	x, err := m.GetRotationX()
	if err != nil {
		return nil, err
	}
	y, err := m.GetRotationY()
	if err != nil {
		return nil, err
	}
	z, err := m.GetRotationZ()
	if err != nil {
		return nil, err
	}
	return &RotationData{X: x, Y: y, Z: z}, nil
}

// GetMotion6 gets the motion data - accelerometer and rotation(gyroscope).
func (m *MPU9250) GetMotion6() (*AccelerometerData, *RotationData, error) {
	acc, err := m.GetAcceleration()
	if err != nil {
		return nil, nil, err
	}
	rot, err := m.GetRotation()
	if err != nil {
		return nil, nil, err
	}
	return acc, rot, nil
}

// Temperature functions.

// EnableTemperature enables internal temperature sensor.
func (m *MPU9250) EnableTemperature() error {
	// TODO: Remove, always enable.
	return m.transport.writeMaskedReg(reg.MPU9250_FIFO_EN, reg.MPU9250_TEMP_FIFO_EN_MASK, boolByte(true, reg.MPU9250_TEMP_FIFO_EN_MASK))
}

// DisableTemperature disables the internal temperature sensor.
func (m *MPU9250) DisableTemperature() error {
	// TODO: Remove.
	return m.transport.writeMaskedReg(reg.MPU9250_FIFO_EN, reg.MPU9250_TEMP_FIFO_EN_MASK, boolByte(false, reg.MPU9250_TEMP_FIFO_EN_MASK))
}

// TemperatureIsEnabled returns if the temperature sensor enabled.
func (m *MPU9250) TemperatureIsEnabled() (bool, error) {
	// TODO: Remove.
	return m.readMaskedRegBool(reg.MPU9250_FIFO_EN, reg.MPU9250_TEMP_FIFO_EN_MASK)
}

// GetTemperature gets the current temperature.
func (m *MPU9250) GetTemperature() (uint16, error) {
	// TODO: Use physic.Kelvin.
	//((Temp_out - room_temp_offset)/temp_sensitivity) + 21; //celcius
	if enabled, err := m.TemperatureIsEnabled(); enabled && err != nil {
		return 0, err
	}
	return m.ReadWord(reg.MPU9250_TEMP_OUT_H, reg.MPU9250_TEMP_OUT_L)
}

// WriteByteAddress writes to the byte address.
func (m *MPU9250) WriteByteAddress(address, value byte) error {
	// TODO: make private.
	return m.transport.writeByte(address, value)
}

// ReadWord reads unsigned int from the provided addresses.
//
//	hi high 8 bit address
//	lo low 8 bit address
func (m *MPU9250) ReadWord(hi, lo byte) (uint16, error) {
	// TODO: make private.
	hiByte, err := m.transport.readByte(hi)
	if err != nil {
		return 0, wrapf("can't read word %x(hi)=> %v", hi, lo, err)
	}
	loByte, err := m.transport.readByte(lo)
	if err != nil {
		return 0, wrapf("can't read word %x(lo)=> %v", hi, lo, err)
	}
	return uint16(hiByte)<<8 | uint16(loByte), nil
}

// ReadSignedWord reads signed word from the provided high/low registers
// addresses.
func (m *MPU9250) ReadSignedWord(hi, lo byte) (int16, error) {
	res, err := m.ReadWord(hi, lo)
	return int16(res), err
}

//

func (m *MPU9250) getOffset(regs ...byte) (uint16, error) {
	return m.transport.readUint16(regs...)
}

func (m *MPU9250) setOffset(regHi, regLo byte, offset uint16) error {
	msbOffset := byte(offset >> 8)
	lsbOffset := byte(offset & 0x00FF)
	if err := m.transport.writeByte(regHi, msbOffset); err != nil {
		return err
	}
	return m.transport.writeByte(regLo, lsbOffset)
}

func (m *MPU9250) readMaskedRegBool(address, mask byte) (bool, error) {
	response, err := m.transport.readMaskedReg(address, mask)
	if err != nil {
		return false, err
	}
	return response != 0, nil
}

func uintToInt(s uint16, err error) (int16, error) {
	return int16(s), err
}

func asInt16(src uint16, err error) (int16, error) {
	return int16(src), err
}

func boolByte(v bool, mask byte) byte {
	if v {
		return mask
	}
	return 0
}

func negateBool(src bool, err error) (bool, error) {
	if err != nil {
		return src, err
	}
	return !src, err
}

func (m *MPU9250) transferBatch(seq [][]byte, msg string) error {
	for i, cmds := range seq {
		if len(cmds) == 2 {
			if err := m.transport.writeByte(cmds[0], cmds[1]); err != nil {
				return wrapf(msg, i, cmds[0], cmds[1], err)
			}
		} else {
			time.Sleep(time.Duration(cmds[0]) * time.Millisecond)
		}
	}
	return nil
}

func wrapf(format string, a ...interface{}) error {
	return fmt.Errorf("mpu9250 "+format, a...)
}

var (
	initSequence = [][]byte{
		{reg.MPU9250_PWR_MGMT_1, 0x0}, // Clear sleep mode bit (6), enable all sensors
		{100},
		{reg.MPU9250_PWR_MGMT_2, 0x01}, // Auto select clock source to be PLL gyroscope reference if ready else
		{100},
		// Configure Gyro and Thermometer
		// Disable FSYNC and set thermometer and gyro bandwidth to 41 and 42 Hz, respectively;
		// minimum delay time for this setting is 5.9 ms, which means sensor fusion update rates cannot
		// be higher than 1 / 0.0059 = 170 Hz
		// DLPF_CFG = bits 2:0 = 011; this limits the sample rate to 1000 Hz for both
		// With the MPU9250, it is possible to get gyro sample rates of 32 kHz (!), 8 kHz, or 1 kHz
		{reg.MPU9250_CONFIG, 0x03},
		{reg.MPU9250_SMPLRT_DIV, 0x04}, // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV)
	}
	calibrateSequence = [][]byte{
		{reg.MPU9250_PWR_MGMT_1, 0x80}, // reset device
		{100},                          // sleep 100 ms
		{reg.MPU9250_PWR_MGMT_1, 1},    // get stable time source; Auto select clock source to be PLL gyroscope reference if ready else use the internal oscillator, bits 2:0 = 001
		{reg.MPU9250_PWR_MGMT_2, 0},
		{200},                         // wait 200 ms
		{reg.MPU9250_INT_ENABLE, 0},   // Disable all interrupts
		{reg.MPU9250_FIFO_EN, 0},      // Disable FIFO
		{reg.MPU9250_PWR_MGMT_1, 0},   // Turn on internal clock source
		{reg.MPU9250_I2C_MST_CTRL, 0}, // Disable I2C master
		{reg.MPU9250_USER_CTRL, 0},    // Disable FIFO and I2C master modes
		{reg.MPU9250_USER_CTRL, 0x0C}, // Reset FIFO and DMP
		{15},                          // wait 15 ms
		{reg.MPU9250_CONFIG, 0x01},    // Set low-pass filter to 188 Hz
		{reg.MPU9250_SMPLRT_DIV, 0},   // Set sample rate to 1 kHz
		{reg.MPU9250_GYRO_CONFIG, 0},  // Set gyro full-scale to 250 degrees per second, maximum sensitivity
		{reg.MPU9250_ACCEL_CONFIG, 0}, // Set accelerometer full-scale to 2 g, maximum sensitivity
		{reg.MPU9250_USER_CTRL, 0x40}, // Enable FIFO
		{reg.MPU9250_FIFO_EN, 0x78},   // Enable gyro and accelerometer sensors for FIFO  (max size 512 bytes in MPU-9150)
		{40},                          // wait 40 ms
		{reg.MPU9250_FIFO_EN, 0x00},   // Disable gyro and accelerometer sensors for FIFO
	}
)