driver_mpu9250_fifo.c

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#include "driver_mpu9250_fifo.h"
 
static mpu9250_handle_t gs_handle;        
uint8_t mpu9250_fifo_irq_handler(void)
{
    if (mpu9250_irq_handler(&gs_handle) != 0)
    {
        return 1;
    }
    else
    {
        return 0;
    }
}
 
uint8_t mpu9250_fifo_init(mpu9250_interface_t interface, mpu9250_address_t addr_pin)
{
    uint8_t res;
    
    /* link interface function */
    DRIVER_MPU9250_LINK_INIT(&gs_handle, mpu9250_handle_t);
    DRIVER_MPU9250_LINK_IIC_INIT(&gs_handle, mpu9250_interface_iic_init);
    DRIVER_MPU9250_LINK_IIC_DEINIT(&gs_handle, mpu9250_interface_iic_deinit);
    DRIVER_MPU9250_LINK_IIC_READ(&gs_handle, mpu9250_interface_iic_read);
    DRIVER_MPU9250_LINK_IIC_WRITE(&gs_handle, mpu9250_interface_iic_write);
    DRIVER_MPU9250_LINK_SPI_INIT(&gs_handle, mpu9250_interface_spi_init);
    DRIVER_MPU9250_LINK_SPI_DEINIT(&gs_handle, mpu9250_interface_spi_deinit);
    DRIVER_MPU9250_LINK_SPI_READ(&gs_handle, mpu9250_interface_spi_read);
    DRIVER_MPU9250_LINK_SPI_WRITE(&gs_handle, mpu9250_interface_spi_write);
    DRIVER_MPU9250_LINK_DELAY_MS(&gs_handle, mpu9250_interface_delay_ms);
    DRIVER_MPU9250_LINK_DEBUG_PRINT(&gs_handle, mpu9250_interface_debug_print);
    DRIVER_MPU9250_LINK_RECEIVE_CALLBACK(&gs_handle, mpu9250_interface_receive_callback);
    
    /* set the interface */
    res = mpu9250_set_interface(&gs_handle, interface);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interface failed.\n");
       
        return 1;
    }
    
    /* set the addr pin */
    res = mpu9250_set_addr_pin(&gs_handle, addr_pin);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set addr pin failed.\n");
       
        return 1;
    }
    
    /* init */
    res = mpu9250_init(&gs_handle);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: init failed.\n");
       
        return 1;
    }
    
    /* delay 100 ms */
    mpu9250_interface_delay_ms(100);
    
    /* disable sleep */
    res = mpu9250_set_sleep(&gs_handle, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set sleep failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* if spi interface, disable iic interface */
    if (interface == MPU9250_INTERFACE_SPI)
    {
        /* disable iic */
        res = mpu9250_set_disable_iic_slave(&gs_handle, MPU9250_BOOL_TRUE);
        if (res != 0)
        {
            mpu9250_interface_debug_print("mpu9250: set disable iic slave failed.\n");
            (void)mpu9250_deinit(&gs_handle);
           
            return 1;
        }
    }
    
    /* set fifo 1024kb */
    res = mpu9250_set_fifo_1024kb(&gs_handle);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo 1024kb failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default clock source */
    res = mpu9250_set_clock_source(&gs_handle, MPU9250_FIFO_DEFAULT_CLOCK_SOURCE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set clock source failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default rate */
    res = mpu9250_set_sample_rate_divider(&gs_handle, (1000 / MPU9250_FIFO_DEFAULT_RATE) - 1);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set sample rate divider failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default accelerometer range */
    res = mpu9250_set_accelerometer_range(&gs_handle, MPU9250_FIFO_DEFAULT_ACCELEROMETER_RANGE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accelerometer range failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default gyroscope range */
    res = mpu9250_set_gyroscope_range(&gs_handle, MPU9250_FIFO_DEFAULT_GYROSCOPE_RANGE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set gyroscope range failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable temperature sensor */
    res = mpu9250_set_ptat(&gs_handle, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set ptat failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default wake up */
    res = mpu9250_set_cycle_wake_up(&gs_handle, MPU9250_FIFO_DEFAULT_CYCLE_WAKE_UP);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set cycle wake up failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable acc x */
    res = mpu9250_set_standby_mode(&gs_handle, MPU9250_SOURCE_ACC_X, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set standby mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable acc y */
    res = mpu9250_set_standby_mode(&gs_handle, MPU9250_SOURCE_ACC_Y, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set standby mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable acc z */
    res = mpu9250_set_standby_mode(&gs_handle, MPU9250_SOURCE_ACC_Z, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set standby mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable gyro x */
    res = mpu9250_set_standby_mode(&gs_handle, MPU9250_SOURCE_GYRO_X, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set standby mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable gyro y */
    res = mpu9250_set_standby_mode(&gs_handle, MPU9250_SOURCE_GYRO_Y, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set standby mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable gyro z */
    res = mpu9250_set_standby_mode(&gs_handle, MPU9250_SOURCE_GYRO_Z, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set standby mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable gyroscope x test */
    res = mpu9250_set_gyroscope_test(&gs_handle, MPU9250_AXIS_X, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set gyroscope test failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable gyroscope y test */
    res = mpu9250_set_gyroscope_test(&gs_handle, MPU9250_AXIS_Y, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set gyroscope test failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable gyroscope z test */
    res = mpu9250_set_gyroscope_test(&gs_handle, MPU9250_AXIS_Z, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set gyroscope test failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable accelerometer x test */
    res = mpu9250_set_accelerometer_test(&gs_handle, MPU9250_AXIS_X, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accelerometer test failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable accelerometer y test */
    res = mpu9250_set_accelerometer_test(&gs_handle, MPU9250_AXIS_Y, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accelerometer test failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable accelerometer z test */
    res = mpu9250_set_accelerometer_test(&gs_handle, MPU9250_AXIS_Z, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accelerometer test failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* disable temp fifo */
    res = mpu9250_set_fifo_enable(&gs_handle, MPU9250_FIFO_TEMP, MPU9250_BOOL_FALSE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo enable failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable xg fifo */
    res = mpu9250_set_fifo_enable(&gs_handle, MPU9250_FIFO_XG, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo enable failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable yg fifo */
    res = mpu9250_set_fifo_enable(&gs_handle, MPU9250_FIFO_YG, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo enable failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable zg fifo */
    res = mpu9250_set_fifo_enable(&gs_handle, MPU9250_FIFO_ZG, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo enable failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* enable accel fifo */
    res = mpu9250_set_fifo_enable(&gs_handle, MPU9250_FIFO_ACCEL, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo enable failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default interrupt level */
    res = mpu9250_set_interrupt_level(&gs_handle, MPU9250_FIFO_DEFAULT_INTERRUPT_PIN_LEVEL);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt level failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default interrupt pin type */
    res = mpu9250_set_interrupt_pin_type(&gs_handle, MPU9250_FIFO_DEFAULT_INTERRUPT_PIN_TYPE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt pin type failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default motion */
    res = mpu9250_set_interrupt(&gs_handle, MPU9250_INTERRUPT_MOTION, MPU9250_FIFO_DEFAULT_INTERRUPT_MOTION);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default fifo overflow */
    res = mpu9250_set_interrupt(&gs_handle, MPU9250_INTERRUPT_FIFO_OVERFLOW, MPU9250_FIFO_DEFAULT_INTERRUPT_FIFO_OVERFLOW);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default dmp interrupt */
    res = mpu9250_set_interrupt(&gs_handle, MPU9250_INTERRUPT_DMP, MPU9250_FIFO_DEFAULT_INTERRUPT_DMP);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default fsync int */
    res = mpu9250_set_interrupt(&gs_handle, MPU9250_INTERRUPT_FSYNC_INT, MPU9250_FIFO_DEFAULT_INTERRUPT_FSYNC_INT);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default data ready */
    res = mpu9250_set_interrupt(&gs_handle, MPU9250_INTERRUPT_DATA_READY, MPU9250_FIFO_DEFAULT_INTERRUPT_DATA_READY);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default latch */
    res = mpu9250_set_interrupt_latch(&gs_handle, MPU9250_FIFO_DEFAULT_INTERRUPT_LATCH);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt latch failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default interrupt read clear */
    res = mpu9250_set_interrupt_read_clear(&gs_handle, MPU9250_FIFO_DEFAULT_INTERRUPT_READ_CLEAR);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set interrupt read clear failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default extern sync */
    res = mpu9250_set_extern_sync(&gs_handle, MPU9250_FIFO_DEFAULT_EXTERN_SYNC);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set extern sync failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default fsync interrupt */
    res = mpu9250_set_fsync_interrupt(&gs_handle, MPU9250_FIFO_DEFAULT_FSYNC_INTERRUPT);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fsync interrupt failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default fsync interrupt level */
    res = mpu9250_set_fsync_interrupt_level(&gs_handle, MPU9250_FIFO_DEFAULT_FSYNC_INTERRUPT_LEVEL);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fsync interrupt level failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default iic master */
    res = mpu9250_set_iic_master(&gs_handle, MPU9250_FIFO_DEFAULT_IIC_MASTER);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set iic master failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default iic bypass */
    res = mpu9250_set_iic_bypass(&gs_handle, MPU9250_FIFO_DEFAULT_IIC_BYPASS);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set iic bypass failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default gyro standby */
    res = mpu9250_set_gyro_standby(&gs_handle, MPU9250_FIFO_DEFAULT_GYROSCOPE_STANDBY);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set gyro standby failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default fifo mode */
    res = mpu9250_set_fifo_mode(&gs_handle, MPU9250_FIFO_DEFAULT_FIFO_MODE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo mode failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default gyroscope choice */
    res = mpu9250_set_gyroscope_choice(&gs_handle, MPU9250_FIFO_DEFAULT_GYROSCOPE_CHOICE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set gyroscope choice failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default low pass filter */
    res = mpu9250_set_low_pass_filter(&gs_handle, MPU9250_FIFO_DEFAULT_LOW_PASS_FILTER);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set low pass filter failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default accelerometer choice */
    res = mpu9250_set_accelerometer_choice(&gs_handle, MPU9250_FIFO_DEFAULT_ACCELEROMETER_CHOICE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accelerometer choice failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default accelerometer low pass filter */
    res = mpu9250_set_accelerometer_low_pass_filter(&gs_handle, MPU9250_FIFO_DEFAULT_ACCELEROMETER_LOW_PASS_FILTER);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accelerometer low pass filter failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default low power accel output rate */
    res = mpu9250_set_low_power_accel_output_rate(&gs_handle, MPU9250_FIFO_DEFAULT_LOW_POWER_ACCEL_OUTPUT_RATE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set low power accel output rate failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default wake on motion */
    res = mpu9250_set_wake_on_motion(&gs_handle, MPU9250_FIFO_DEFAULT_WAKE_ON_MOTION);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set wake on motion failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* set the default accel compare with previous sample */
    res = mpu9250_set_accel_compare_with_previous_sample(&gs_handle, MPU9250_FIFO_DEFAULT_ACCELEROMETER_COMPARE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set accel compare with previous sample failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* if iic interface */
    if (interface == MPU9250_INTERFACE_IIC)
    {
        /* mag init */
        res = mpu9250_mag_init(&gs_handle); 
        if (res != 0)
        {
            mpu9250_interface_debug_print("mpu9250: mag init failed.\n");
            (void)mpu9250_deinit(&gs_handle);
           
            return 1;
        }
        
        /* set the mag default mode */
        res = mpu9250_mag_set_mode(&gs_handle, MPU9250_FIFO_DEFAULT_MAGNETOMETER_MODE);
        if (res != 0)
        {
            mpu9250_interface_debug_print("mpu9250: mag set mode failed.\n");
            (void)mpu9250_mag_deinit(&gs_handle);
            (void)mpu9250_deinit(&gs_handle);
           
            return 1;
        }
        
        /* set the mag default bits  */
        res = mpu9250_mag_set_bits(&gs_handle, MPU9250_FIFO_DEFAULT_MAGNETOMETER_BITS);
        if (res != 0)
        {
            mpu9250_interface_debug_print("mpu9250: mag set bits failed.\n");
            (void)mpu9250_mag_deinit(&gs_handle);
            (void)mpu9250_deinit(&gs_handle);
           
            return 1;
        }
        
        /* enable iic master */
        res = mpu9250_set_iic_master(&gs_handle, MPU9250_BOOL_TRUE);
        if (res != 0)
        {
            mpu9250_interface_debug_print("mpu9250: set iic master failed.\n");
            (void)mpu9250_mag_deinit(&gs_handle);
            (void)mpu9250_deinit(&gs_handle);
           
            return 1;
        }
        
        /* disable iic bypass */
        res = mpu9250_set_iic_bypass(&gs_handle, MPU9250_BOOL_FALSE);
        if (res != 0)
        {
            mpu9250_interface_debug_print("mpu9250: set iic bypass failed.\n");
            (void)mpu9250_mag_deinit(&gs_handle);
            (void)mpu9250_deinit(&gs_handle);
           
            return 1;
        }
        
        /* set the default iic clock */
        res = mpu9250_set_iic_clock(&gs_handle, MPU9250_FIFO_DEFAULT_IIC_CLOCK);
        if (res != 0)
        {
            mpu9250_interface_debug_print("mpu9250: set iic clock failed.\n");
            (void)mpu9250_mag_deinit(&gs_handle);
            (void)mpu9250_deinit(&gs_handle);
           
            return 1;
        }
        
        /* set the default iic multi master */
        res = mpu9250_set_iic_multi_master(&gs_handle, MPU9250_FIFO_DEFAULT_IIC_MULTI_MASTER);
        if (res != 0)
        {
            mpu9250_interface_debug_print("mpu9250: set iic multi master failed.\n");
            (void)mpu9250_mag_deinit(&gs_handle);
            (void)mpu9250_deinit(&gs_handle);
           
            return 1;
        }
        
        /* set the default iic wait for external sensor */
        res = mpu9250_set_iic_wait_for_external_sensor(&gs_handle, MPU9250_FIFO_DEFAULT_IIC_WAIT_FOR_EXTERNAL_SENSOR);
        if (res != 0)
        {
            mpu9250_interface_debug_print("mpu9250: set iic wait for external sensor failed.\n");
            (void)mpu9250_mag_deinit(&gs_handle);
            (void)mpu9250_deinit(&gs_handle);
           
            return 1;
        }
        
        /* set the default iic read mode */
        res = mpu9250_set_iic_read_mode(&gs_handle, MPU9250_FIFO_DEFAULT_IIC_READ_MODE);
        if (res != 0)
        {
            mpu9250_interface_debug_print("mpu9250: set iic read mode failed.\n");
            (void)mpu9250_mag_deinit(&gs_handle);
            (void)mpu9250_deinit(&gs_handle);
           
            return 1;
        }
        
        /* set the default slave 0 delay */
        res = mpu9250_set_iic_delay_enable(&gs_handle, MPU9250_IIC_DELAY_SLAVE_0, MPU9250_FIFO_DEFAULT_IIC_DELAY);
        if (res != 0)
        {
            mpu9250_interface_debug_print("mpu9250: set iic delay enable failed.\n");
            (void)mpu9250_mag_deinit(&gs_handle);
            (void)mpu9250_deinit(&gs_handle);
           
            return 1;
        }
        
        /* mag set fifo mode */
        res = mpu9250_mag_set_fifo_mode(&gs_handle);
        if (res != 0)
        {
            mpu9250_interface_debug_print("mpu9250: mag set fifo mode failed.\n");
            (void)mpu9250_mag_deinit(&gs_handle);
            (void)mpu9250_deinit(&gs_handle);
           
            return 1;
        }
    }
    
    /* enable fifo */
    res = mpu9250_set_fifo(&gs_handle, MPU9250_BOOL_TRUE);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: set fifo failed.\n");
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    /* force fifo reset */
    res = mpu9250_force_fifo_reset(&gs_handle);
    if (res != 0)
    {
        mpu9250_interface_debug_print("mpu9250: force fifo reset failed.\n");
        if (interface == MPU9250_INTERFACE_IIC)
        {
            (void)mpu9250_set_fifo(&gs_handle, MPU9250_BOOL_FALSE);
            (void)mpu9250_mag_deinit(&gs_handle);
        }
        (void)mpu9250_deinit(&gs_handle);
       
        return 1;
    }
    
    return 0;
}
 
uint8_t mpu9250_fifo_read(int16_t (*accel_raw)[3], float (*accel_g)[3],
                          int16_t (*gyro_raw)[3], float (*gyro_dps)[3],
                          int16_t (*mag_raw)[3], float (*mag_ut)[3],
                          uint16_t *len
                         )
{
    /* fifo read */
    if (mpu9250_read(&gs_handle, accel_raw, accel_g,
                     gyro_raw, gyro_dps, mag_raw, mag_ut, len) != 0)
    {
        return 1;
    }
    
    return 0;
}
 
uint8_t mpu9250_fifo_deinit(void)
{
    mpu9250_interface_t interface;
    
    /* get the interface */
    if (mpu9250_get_interface(&gs_handle, &interface) != 0)
    {
        return 1;
    }
    
    /* if interface iic*/
    if (interface == MPU9250_INTERFACE_IIC)
    {
        /* disable fifo */
        if (mpu9250_set_fifo(&gs_handle, MPU9250_BOOL_FALSE) != 0)
        {
            return 1;
        }
        
        /* mag deinit */
        if (mpu9250_mag_deinit(&gs_handle) != 0)
        {
            return 1;
        }
    }
    
    /* deinit */
    if (mpu9250_deinit(&gs_handle) != 0)
    {
        return 1;
    }
    
    return 0;
}