unit_mpu9250.hpp

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/*
 * SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
 *
 * SPDX-License-Identifier: MIT
 */
#ifndef M5_UNIT_IMU_UNIT_UNIT_MPU9250_HPP
#define M5_UNIT_IMU_UNIT_UNIT_MPU9250_HPP
 
#include "unit_mpu6500.hpp"
#include "unit_ak8963.hpp"
 
namespace m5 {
namespace unit {
 
class UnitMPU9250 : public UnitMPU6500 {
    M5_UNIT_COMPONENT_HPP_BUILDER(UnitMPU9250, 0x68);
 
public:
    explicit UnitMPU9250(const uint8_t addr = DEFAULT_ADDRESS, const uint8_t mag_addr = 0x0C);
    virtual ~UnitMPU9250()
    {
    }
 
    UnitAK8963& mag()
    {
        return _mag;
    }
 
    virtual bool begin() override;
 
protected:
    // Only a real MPU9250's accel/gyro die (WHO_AM_I 0x71) is accepted here
    inline bool accepts_whoami(const uint8_t id) const override
    {
        return id == 0x71;
    }
    virtual bool start_periodic_measurement(const mpu6886::AccelRange accel_range, const mpu6886::GyroRange gyro_range,
                                            const mpu6886::Dlpf dlpf, const uint8_t sample_rate_div) override;
    virtual std::shared_ptr<Adapter> ensure_adapter(const uint8_t ch) override;
 
private:
    UnitAK8963 _mag;
};
 
}  // namespace unit
}  // namespace m5
#endif