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package com.diozero.imu.drivers.invensense;
/*
* #%L
* Organisation: diozero
* Project: Device I/O Zero - IMU device classes
* Filename: MPU9150Constants.java
*
* This file is part of the diozero project. More information about this project
* can be found at http://www.diozero.com/
* %%
* Copyright (C) 2016 - 2020 diozero
* %%
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
* #L%
*/
// MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
public interface MPU9150Constants {
// 16bit signed value (-32,768 to 32,767)
static final int HARDWARE_UNIT = ((int)Math.pow(2, 16)) / 2; // ((2^16)/2 = 32,768)
// TODO Validate the scale of the Quaternion data
static final double QUATERNION_SCALE = 1.0 / (HARDWARE_UNIT/2);
// From https://github.com/pocketmoon/MPU-6050-Arduino-Micro-Head-Tracker/blob/master/MPUReset/MPU6050Reset.ino
//private static final double QUATERNION_SCALE = 1.0 / 16384;
// Communication with all registers of the device is performed using I2C at 400 kHz
static final int I2C_CLOCK_FREQUENCY_FAST = 400_000;
static final int I2C_CLOCK_FREQUENCY_STANDARD = 100_000;
static final byte BIT_I2C_MST_VDDIO = (byte)0x80;
static final byte BIT_FIFO_EN = 0x40;
static final byte BIT_DMP_EN = (byte)0x80;
static final byte BIT_FIFO_RST = 0x04;
static final byte BIT_DMP_RST = 0x08;
static final byte BIT_FIFO_OVERFLOW = 0x10;
static final byte BIT_DATA_RDY_EN = 0x01;
static final byte BIT_DMP_INT_EN = 0x02;
static final byte BIT_MOT_INT_EN = 0x40;
static final byte BITS_FSR = 0x18;
static final byte BITS_LPF = 0x07;
static final byte BITS_HPF = 0x07;
static final byte BITS_CLK = 0x07;
static final byte BIT_FIFO_SIZE_1024 = 0x40;
static final byte BIT_FIFO_SIZE_2048 = (byte)0x80;
static final byte BIT_FIFO_SIZE_4096 = (byte)0xC0;
static final byte BIT_RESET = (byte)0x80;
static final byte BIT_SLEEP = 0x40;
static final byte BIT_S0_DELAY_EN = 0x01;
static final byte BIT_S2_DELAY_EN = 0x04;
static final byte BITS_SLAVE_LENGTH = 0x0F;
static final byte BIT_SLAVE_BYTE_SW = 0x40;
static final byte BIT_SLAVE_GROUP = 0x10;
static final byte BIT_SLAVE_EN = (byte)0x80;
static final byte BIT_I2C_READ = (byte)0x80;
static final byte BITS_I2C_MASTER_DLY = 0x1F;
static final byte BIT_AUX_IF_EN = 0x20;
static final byte BIT_ACTL = (byte)0x80;
static final byte BIT_LATCH_EN = 0x20;
static final byte BIT_ANY_RD_CLR = 0x10;
static final byte BIT_BYPASS_EN = 0x02;
static final byte BITS_WOM_EN = (byte)0xC0;
static final byte BIT_LPA_CYCLE = 0x20;
static final byte BIT_STBY_XA = 0x20;
static final byte BIT_STBY_YA = 0x10;
static final byte BIT_STBY_ZA = 0x08;
static final byte BIT_STBY_XG = 0x04;
static final byte BIT_STBY_YG = 0x02;
static final byte BIT_STBY_ZG = 0x01;
static final byte BIT_STBY_XYZA = (byte)(BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA);
static final byte BIT_STBY_XYZG = (byte)(BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG);
static final byte INV_TEMP = (byte)0x80;
static final byte INV_X_GYRO = 0x40;
static final byte INV_Y_GYRO = 0x20;
static final byte INV_Z_GYRO = 0x10;
static final byte INV_XYZ_GYRO = INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO;
static final byte INV_XYZ_ACCEL = 0x08;
static final byte INV_XYZ_COMPASS = 0x01;
static final int MAX_COMPASS_SAMPLE_RATE = 100;
// MUP-9150 main I2C address
static final int MPU9150_ADDRESS_AD0_LOW = 0x68; // address pin low (GND), default for InvenSense evaluation board
static final int MPU9150_ADDRESS_AD0_HIGH = 0x69; // address pin high (VCC)
static final int MPU9150_DEFAULT_ADDRESS = MPU9150_ADDRESS_AD0_LOW;
// Accelerometer and gyroscope registers
static final int MPU9150_RA_SMPL_RATE_DIV = 0x19;
static final int MPU9150_RA_CONFIG = 0x1A;
static final int MPU9150_RA_GYRO_CONFIG = 0x1B;
static final int MPU9150_RA_ACCEL_CONFIG = 0x1C;
static final int MPU9150_RA_FF_THR = 0x1D;
static final int MPU9150_RA_FF_DUR = 0x1E;
static final int MPU9150_RA_MOT_THR = 0x1F;
static final int MPU9150_RA_MOT_DUR = 0x20;
static final int MPU9150_RA_ZRMOT_THR = 0x21;
static final int MPU9150_RA_ZRMOT_DUR = 0x22;
static final int MPU9150_RA_FIFO_EN = 0x23;
static final int MPU9150_RA_I2C_MST_CTRL = 0x24;
static final int MPU9150_RA_I2C_SLV0_ADDR = 0x25;
static final int MPU9150_RA_I2C_SLV0_REG = 0x26;
static final int MPU9150_RA_I2C_SLV0_CTRL = 0x27;
static final int MPU9150_RA_I2C_SLV1_ADDR = 0x28;
static final int MPU9150_RA_I2C_SLV1_REG = 0x29;
static final int MPU9150_RA_I2C_SLV1_CTRL = 0x2A;
static final int MPU9150_RA_I2C_SLV2_ADDR = 0x2B;
static final int MPU9150_RA_I2C_SLV2_REG = 0x2C;
static final int MPU9150_RA_I2C_SLV2_CTRL = 0x2D;
static final int MPU9150_RA_I2C_SLV3_ADDR = 0x2E;
static final int MPU9150_RA_I2C_SLV3_REG = 0x2F;
static final int MPU9150_RA_I2C_SLV3_CTRL = 0x30;
static final int MPU9150_RA_I2C_SLV4_ADDR = 0x31;
static final int MPU9150_RA_I2C_SLV4_REG = 0x32;
static final int MPU9150_RA_I2C_SLV4_DO = 0x33;
static final int MPU9150_RA_I2C_SLV4_CTRL = 0x34;
static final int MPU9150_RA_I2C_SLV4_DI = 0x35;
static final int MPU9150_RA_I2C_MST_STATUS = 0x36;
static final int MPU9150_RA_INT_PIN_CFG = 0x37;
static final int MPU9150_RA_INT_ENABLE = 0x38;
static final int MPU9150_RA_DMP_INT_STATUS = 0x39;
static final int MPU9150_RA_INT_STATUS = 0x3A;
static final int MPU9150_RA_ACCEL_XOUT_H = 0x3B;
static final int MPU9150_RA_ACCEL_XOUT_L = 0x3C;
static final int MPU9150_RA_ACCEL_YOUT_H = 0x3D;
static final int MPU9150_RA_ACCEL_YOUT_L = 0x3E;
static final int MPU9150_RA_ACCEL_ZOUT_H = 0x3F;
static final int MPU9150_RA_ACCEL_ZOUT_L = 0x40;
static final int MPU9150_RA_TEMP_OUT_H = 0x41;
static final int MPU9150_RA_TEMP_OUT_L = 0x42;
static final int MPU9150_RA_GYRO_XOUT_H = 0x43;
static final int MPU9150_RA_GYRO_XOUT_L = 0x44;
static final int MPU9150_RA_GYRO_YOUT_H = 0x45;
static final int MPU9150_RA_GYRO_YOUT_L = 0x46;
static final int MPU9150_RA_GYRO_ZOUT_H = 0x47;
static final int MPU9150_RA_GYRO_ZOUT_L = 0x48;
static final int MPU9150_RA_EXT_SENS_DATA_00 = 0x49;
static final int MPU9150_RA_EXT_SENS_DATA_01 = 0x4A;
static final int MPU9150_RA_EXT_SENS_DATA_02 = 0x4B;
static final int MPU9150_RA_EXT_SENS_DATA_03 = 0x4C;
static final int MPU9150_RA_EXT_SENS_DATA_04 = 0x4D;
static final int MPU9150_RA_EXT_SENS_DATA_05 = 0x4E;
static final int MPU9150_RA_EXT_SENS_DATA_06 = 0x4F;
static final int MPU9150_RA_EXT_SENS_DATA_07 = 0x50;
static final int MPU9150_RA_EXT_SENS_DATA_08 = 0x51;
static final int MPU9150_RA_EXT_SENS_DATA_09 = 0x52;
static final int MPU9150_RA_EXT_SENS_DATA_10 = 0x53;
static final int MPU9150_RA_EXT_SENS_DATA_11 = 0x54;
static final int MPU9150_RA_EXT_SENS_DATA_12 = 0x55;
static final int MPU9150_RA_EXT_SENS_DATA_13 = 0x56;
static final int MPU9150_RA_EXT_SENS_DATA_14 = 0x57;
static final int MPU9150_RA_EXT_SENS_DATA_15 = 0x58;
static final int MPU9150_RA_EXT_SENS_DATA_16 = 0x59;
static final int MPU9150_RA_EXT_SENS_DATA_17 = 0x5A;
static final int MPU9150_RA_EXT_SENS_DATA_18 = 0x5B;
static final int MPU9150_RA_EXT_SENS_DATA_19 = 0x5C;
static final int MPU9150_RA_EXT_SENS_DATA_20 = 0x5D;
static final int MPU9150_RA_EXT_SENS_DATA_21 = 0x5E;
static final int MPU9150_RA_EXT_SENS_DATA_22 = 0x5F;
static final int MPU9150_RA_EXT_SENS_DATA_23 = 0x60;
static final int MPU9150_RA_MOT_DETECT_STATUS= 0x61;
static final int MPU9150_RA_I2C_SLV0_DO = 0x63;
static final int MPU9150_RA_I2C_SLV1_DO = 0x64;
static final int MPU9150_RA_I2C_SLV2_DO = 0x65;
static final int MPU9150_RA_I2C_SLV3_DO = 0x66;
static final int MPU9150_RA_I2C_MST_DELAY_CTRL= 0x67;
static final int MPU9150_RA_SIGNAL_PATH_RESET= 0x68;
static final int MPU9150_RA_MOT_DETECT_CTRL = 0x69;
static final int MPU9150_RA_USER_CTRL = 0x6A;
static final int MPU9150_RA_PWR_MGMT_1 = 0x6B;
static final int MPU9150_RA_PWR_MGMT_2 = 0x6C;
static final int MPU9150_RA_BANK_SEL = 0x6D;
static final int MPU9150_RA_MEM_START_ADDR = 0x6E;
static final int MPU9150_RA_MEM_R_W = 0x6F;
static final int MPU9150_RA_DMP_CFG_1 = 0x70;
static final int MPU9150_RA_DMP_CFG_2 = 0x71;
static final int MPU9150_RA_FIFO_COUNTH = 0x72;
static final int MPU9150_RA_FIFO_COUNTL = 0x73;
static final int MPU9150_RA_FIFO_R_W = 0x74;
static final int MPU9150_RA_WHO_AM_I = 0x75;
// Undocumented registers?
static final int MPU9150_RA_XG_OFFS_TC = 0x00; //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
static final int MPU9150_RA_YG_OFFS_TC = 0x01; //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
static final int MPU9150_RA_ZG_OFFS_TC = 0x02; //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
static final int MPU9150_RA_X_FINE_GAIN = 0x03; //[7:0] X_FINE_GAIN
static final int MPU9150_RA_Y_FINE_GAIN = 0x04; //[7:0] Y_FINE_GAIN
static final int MPU9150_RA_Z_FINE_GAIN = 0x05; //[7:0] Z_FINE_GAIN
static final int MPU9150_RA_XA_OFFS_H = 0x06; //[15:0] XA_OFFS
static final int MPU9150_RA_XA_OFFS_L_TC = 0x07;
static final int MPU9150_RA_YA_OFFS_H = 0x08; //[15:0] YA_OFFS
static final int MPU9150_RA_YA_OFFS_L_TC = 0x09;
static final int MPU9150_RA_ZA_OFFS_H = 0x0A; //[15:0] ZA_OFFS
static final int MPU9150_RA_ZA_OFFS_L_TC = 0x0B;
static final int MPU9150_RA_XG_OFFS_USRH = 0x13; //[15:0] XG_OFFS_USR
static final int MPU9150_RA_XG_OFFS_USRL = 0x14;
static final int MPU9150_RA_YG_OFFS_USRH = 0x15; //[15:0] YG_OFFS_USR
static final int MPU9150_RA_YG_OFFS_USRL = 0x16;
static final int MPU9150_RA_ZG_OFFS_USRH = 0x17; //[15:0] ZG_OFFS_USR
static final int MPU9150_RA_ZG_OFFS_USRL = 0x18;
static final int MPU9150_TC_PWR_MODE_BIT = 7;
static final int MPU9150_TC_OFFSET_BIT = 6;
static final int MPU9150_TC_OFFSET_LENGTH = 6;
static final int MPU9150_TC_OTP_BNK_VLD_BIT = 0;
static final int MPU9150_VDDIO_LEVEL_VLOGIC = 0;
static final int MPU9150_VDDIO_LEVEL_VDD = 1;
static final int MPU9150_CFG_EXT_SYNC_SET_BIT = 5;
static final int MPU9150_CFG_EXT_SYNC_SET_LENGTH = 3;
static final int MPU9150_CFG_DLPF_CFG_BIT = 2;
static final int MPU9150_CFG_DLPF_CFG_LENGTH = 3;
static final int MPU9150_EXT_SYNC_DISABLED = 0x0;
static final int MPU9150_EXT_SYNC_TEMP_OUT_L = 0x1;
static final int MPU9150_EXT_SYNC_GYRO_XOUT_L = 0x2;
static final int MPU9150_EXT_SYNC_GYRO_YOUT_L = 0x3;
static final int MPU9150_EXT_SYNC_GYRO_ZOUT_L = 0x4;
static final int MPU9150_EXT_SYNC_ACCEL_XOUT_L = 0x5;
static final int MPU9150_EXT_SYNC_ACCEL_YOUT_L = 0x6;
static final int MPU9150_EXT_SYNC_ACCEL_ZOUT_L = 0x7;
static final int MPU9150_DLPF_BW_256 = 0x00;
static final int MPU9150_DLPF_BW_188 = 0x01;
static final int MPU9150_DLPF_BW_98 = 0x02;
static final int MPU9150_DLPF_BW_42 = 0x03;
static final int MPU9150_DLPF_BW_20 = 0x04;
static final int MPU9150_DLPF_BW_10 = 0x05;
static final int MPU9150_DLPF_BW_5 = 0x06;
static final int MPU9150_GCONFIG_FS_SEL_BIT = 4;
static final int MPU9150_GCONFIG_FS_SEL_LENGTH = 2;
static final int MPU9150_GYRO_FS_250 = 0x00;
static final int MPU9150_GYRO_FS_500 = 0x01;
static final int MPU9150_GYRO_FS_1000 = 0x02;
static final int MPU9150_GYRO_FS_2000 = 0x03;
static final int MPU9150_ACONFIG_XA_ST_BIT = 7;
static final int MPU9150_ACONFIG_YA_ST_BIT = 6;
static final int MPU9150_ACONFIG_ZA_ST_BIT = 5;
static final int MPU9150_ACONFIG_AFS_SEL_BIT = 4;
static final int MPU9150_ACONFIG_AFS_SEL_LENGTH = 2;
static final int MPU9150_ACONFIG_ACCEL_HPF_BIT = 2;
static final int MPU9150_ACONFIG_ACCEL_HPF_LENGTH = 3;
static final int MPU9150_ACCEL_FS_2 = 0x00;
static final int MPU9150_ACCEL_FS_4 = 0x01;
static final int MPU9150_ACCEL_FS_8 = 0x02;
static final int MPU9150_ACCEL_FS_16 = 0x03;
static final int MPU9150_DHPF_RESET = 0x00;
static final int MPU9150_DHPF_5 = 0x01;
static final int MPU9150_DHPF_2P5 = 0x02;
static final int MPU9150_DHPF_1P25 = 0x03;
static final int MPU9150_DHPF_0P63 = 0x04;
static final int MPU9150_DHPF_HOLD = 0x07;
static final int MPU9150_TEMP_FIFO_EN_BIT = 7;
static final int MPU9150_XG_FIFO_EN_BIT = 6;
static final int MPU9150_YG_FIFO_EN_BIT = 5;
static final int MPU9150_ZG_FIFO_EN_BIT = 4;
static final int MPU9150_ACCEL_FIFO_EN_BIT = 3;
static final int MPU9150_SLV2_FIFO_EN_BIT = 2;
static final int MPU9150_SLV1_FIFO_EN_BIT = 1;
static final int MPU9150_SLV0_FIFO_EN_BIT = 0;
static final int MPU9150_MULT_MST_EN_BIT = 7;
static final int MPU9150_WAIT_FOR_ES_BIT = 6;
static final int MPU9150_SLV_3_FIFO_EN_BIT = 5;
static final int MPU9150_I2C_MST_P_NSR_BIT = 4;
static final int MPU9150_I2C_MST_CLK_BIT = 3;
static final int MPU9150_I2C_MST_CLK_LENGTH = 4;
static final int MPU9150_CLOCK_DIV_348 = 0x0;
static final int MPU9150_CLOCK_DIV_333 = 0x1;
static final int MPU9150_CLOCK_DIV_320 = 0x2;
static final int MPU9150_CLOCK_DIV_308 = 0x3;
static final int MPU9150_CLOCK_DIV_296 = 0x4;
static final int MPU9150_CLOCK_DIV_286 = 0x5;
static final int MPU9150_CLOCK_DIV_276 = 0x6;
static final int MPU9150_CLOCK_DIV_267 = 0x7;
static final int MPU9150_CLOCK_DIV_258 = 0x8;
static final int MPU9150_CLOCK_DIV_500 = 0x9;
static final int MPU9150_CLOCK_DIV_471 = 0xA;
static final int MPU9150_CLOCK_DIV_444 = 0xB;
static final int MPU9150_CLOCK_DIV_421 = 0xC;
static final int MPU9150_CLOCK_DIV_400 = 0xD;
static final int MPU9150_CLOCK_DIV_381 = 0xE;
static final int MPU9150_CLOCK_DIV_364 = 0xF;
static final int MPU9150_I2C_SLV_RW_BIT = 7;
static final int MPU9150_I2C_SLV_ADDR_BIT = 6;
static final int MPU9150_I2C_SLV_ADDR_LENGTH = 7;
static final int MPU9150_I2C_SLV_EN_BIT = 7;
static final int MPU9150_I2C_SLV_BYTE_SW_BIT = 6;
static final int MPU9150_I2C_SLV_REG_DIS_BIT = 5;
static final int MPU9150_I2C_SLV_GRP_BIT = 4;
static final int MPU9150_I2C_SLV_LEN_BIT = 3;
static final int MPU9150_I2C_SLV_LEN_LENGTH = 4;
static final int MPU9150_I2C_SLV4_RW_BIT = 7;
static final int MPU9150_I2C_SLV4_ADDR_BIT = 6;
static final int MPU9150_I2C_SLV4_ADDR_LENGTH = 7;
static final int MPU9150_I2C_SLV4_EN_BIT = 7;
static final int MPU9150_I2C_SLV4_INT_EN_BIT = 6;
static final int MPU9150_I2C_SLV4_REG_DIS_BIT = 5;
static final int MPU9150_I2C_SLV4_MST_DLY_BIT = 4;
static final int MPU9150_I2C_SLV4_MST_DLY_LENGTH = 5;
static final int MPU9150_MST_PASS_THROUGH_BIT = 7;
static final int MPU9150_MST_I2C_SLV4_DONE_BIT = 6;
static final int MPU9150_MST_I2C_LOST_ARB_BIT = 5;
static final int MPU9150_MST_I2C_SLV4_NACK_BIT = 4;
static final int MPU9150_MST_I2C_SLV3_NACK_BIT = 3;
static final int MPU9150_MST_I2C_SLV2_NACK_BIT = 2;
static final int MPU9150_MST_I2C_SLV1_NACK_BIT = 1;
static final int MPU9150_MST_I2C_SLV0_NACK_BIT = 0;
static final int MPU9150_INTCFG_INT_LEVEL_BIT = 7;
static final int MPU9150_INTCFG_INT_OPEN_BIT = 6;
static final int MPU9150_INTCFG_LATCH_INT_EN_BIT = 5;
static final int MPU9150_INTCFG_INT_RD_CLEAR_BIT = 4;
static final int MPU9150_INTCFG_FSYNC_INT_LEVEL_BIT = 3;
static final int MPU9150_INTCFG_FSYNC_INT_EN_BIT = 2;
static final int MPU9150_INTCFG_I2C_BYPASS_EN_BIT = 1;
static final int MPU9150_INTCFG_CLKOUT_EN_BIT = 0;
static final int MPU9150_INTMODE_ACTIVEHIGH = 0x00;
static final int MPU9150_INTMODE_ACTIVELOW = 0x01;
static final int MPU9150_INTDRV_PUSHPULL = 0x00;
static final int MPU9150_INTDRV_OPENDRAIN = 0x01;
static final int MPU9150_INTLATCH_50USPULSE = 0x00;
static final int MPU9150_INTLATCH_WAITCLEAR = 0x01;
static final int MPU9150_INTCLEAR_STATUSREAD = 0x00;
static final int MPU9150_INTCLEAR_ANYREAD = 0x01;
static final int MPU9150_INTERRUPT_FF_BIT = 7;
static final int MPU9150_INTERRUPT_MOT_BIT = 6;
static final int MPU9150_INTERRUPT_ZMOT_BIT = 5;
static final int MPU9150_INTERRUPT_FIFO_OFLOW_BIT = 4;
static final int MPU9150_INTERRUPT_I2C_MST_INT_BIT = 3;
static final int MPU9150_INTERRUPT_PLL_RDY_INT_BIT = 2;
static final int MPU9150_INTERRUPT_DMP_INT_BIT = 1;
static final int MPU9150_INTERRUPT_DATA_RDY_BIT = 0;
// TODO: figure out what these actually do
// UMPL source code is not very obvious
static final int MPU9150_DMPINT_5_BIT = 5;
static final int MPU9150_DMPINT_4_BIT = 4;
static final int MPU9150_DMPINT_3_BIT = 3;
static final int MPU9150_DMPINT_2_BIT = 2;
static final int MPU9150_DMPINT_1_BIT = 1;
static final int MPU9150_DMPINT_0_BIT = 0;
static final int MPU9150_MOTION_MOT_XNEG_BIT = 7;
static final int MPU9150_MOTION_MOT_XPOS_BIT = 6;
static final int MPU9150_MOTION_MOT_YNEG_BIT = 5;
static final int MPU9150_MOTION_MOT_YPOS_BIT = 4;
static final int MPU9150_MOTION_MOT_ZNEG_BIT = 3;
static final int MPU9150_MOTION_MOT_ZPOS_BIT = 2;
static final int MPU9150_MOTION_MOT_ZRMOT_BIT = 0;
static final int MPU9150_DELAYCTRL_DELAY_ES_SHADOW_BIT = 7;
static final int MPU9150_DELAYCTRL_I2C_SLV4_DLY_EN_BIT = 4;
static final int MPU9150_DELAYCTRL_I2C_SLV3_DLY_EN_BIT = 3;
static final int MPU9150_DELAYCTRL_I2C_SLV2_DLY_EN_BIT = 2;
static final int MPU9150_DELAYCTRL_I2C_SLV1_DLY_EN_BIT = 1;
static final int MPU9150_DELAYCTRL_I2C_SLV0_DLY_EN_BIT = 0;
static final int MPU9150_PATHRESET_GYRO_RESET_BIT = 2;
static final int MPU9150_PATHRESET_ACCEL_RESET_BIT = 1;
static final int MPU9150_PATHRESET_TEMP_RESET_BIT = 0;
static final int MPU9150_DETECT_ACCEL_ON_DELAY_BIT = 5;
static final int MPU9150_DETECT_ACCEL_ON_DELAY_LENGTH = 2;
static final int MPU9150_DETECT_FF_COUNT_BIT = 3;
static final int MPU9150_DETECT_FF_COUNT_LENGTH = 2;
static final int MPU9150_DETECT_MOT_COUNT_BIT = 1;
static final int MPU9150_DETECT_MOT_COUNT_LENGTH = 2;
static final int MPU9150_DETECT_DECREMENT_RESET = 0x0;
static final int MPU9150_DETECT_DECREMENT_1 = 0x1;
static final int MPU9150_DETECT_DECREMENT_2 = 0x2;
static final int MPU9150_DETECT_DECREMENT_4 = 0x3;
static final int MPU9150_USERCTRL_DMP_EN_BIT = 7;
static final int MPU9150_USERCTRL_FIFO_EN_BIT = 6;
static final int MPU9150_USERCTRL_I2C_MST_EN_BIT = 5;
static final int MPU9150_USERCTRL_I2C_IF_DIS_BIT = 4;
static final int MPU9150_USERCTRL_DMP_RESET_BIT = 3;
static final int MPU9150_USERCTRL_FIFO_RESET_BIT = 2;
static final int MPU9150_USERCTRL_I2C_MST_RESET_BIT = 1;
static final int MPU9150_USERCTRL_SIG_COND_RESET_BIT = 0;
static final int MPU9150_PWR1_DEVICE_RESET_BIT = 7;
static final int MPU9150_PWR1_SLEEP_BIT = 6;
static final int MPU9150_PWR1_CYCLE_BIT = 5;
static final int MPU9150_PWR1_TEMP_DIS_BIT = 3;
static final int MPU9150_PWR1_CLKSEL_BIT = 2;
static final int MPU9150_PWR1_CLKSEL_LENGTH = 3;
static final int MPU9150_CLOCK_INTERNAL = 0x00;
static final int MPU9150_CLOCK_PLL_XGYRO = 0x01;
static final int MPU9150_CLOCK_PLL_YGYRO = 0x02;
static final int MPU9150_CLOCK_PLL_ZGYRO = 0x03;
static final int MPU9150_CLOCK_PLL_EXT32K = 0x04;
static final int MPU9150_CLOCK_PLL_EXT19M = 0x05;
static final int MPU9150_CLOCK_KEEP_RESET = 0x07;
static final int MPU9150_PWR2_LP_WAKE_CTRL_BIT = 7;
static final int MPU9150_PWR2_LP_WAKE_CTRL_LENGTH = 2;
static final int MPU9150_PWR2_STBY_XA_BIT = 5;
static final int MPU9150_PWR2_STBY_YA_BIT = 4;
static final int MPU9150_PWR2_STBY_ZA_BIT = 3;
static final int MPU9150_PWR2_STBY_XG_BIT = 2;
static final int MPU9150_PWR2_STBY_YG_BIT = 1;
static final int MPU9150_PWR2_STBY_ZG_BIT = 0;
static final int MPU9150_WAKE_FREQ_1P25 = 0x0;
static final int MPU9150_WAKE_FREQ_2P5 = 0x1;
static final int MPU9150_WAKE_FREQ_5 = 0x2;
static final int MPU9150_WAKE_FREQ_10 = 0x3;
static final int MPU9150_BANKSEL_PRFTCH_EN_BIT = 6;
static final int MPU9150_BANKSEL_CFG_USER_BANK_BIT = 5;
static final int MPU9150_BANKSEL_MEM_SEL_BIT = 4;
static final int MPU9150_BANKSEL_MEM_SEL_LENGTH = 5;
static final int MPU9150_WHO_AM_I_BIT = 6;
static final int MPU9150_WHO_AM_I_LENGTH = 6;
static final int MPU9150_DMP_MEMORY_BANKS = 8;
static final int bank_size = 256;
static final int MPU9150_DMP_MEMORY_BANK_SIZE = 256;
static final int MPU9150_DMP_MEMORY_CHUNK_SIZE = 16;
}
