feat: add MPU-9250 / RAK1905 9-axis sensor support

src/configuration.h

@@ -313,6 +313,9 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #define DA217_ADDR 0x26
 #define BMI270_ADDR 0x68
 #define BMI270_ADDR_ALT 0x69
+#define MPU9250_ADDR 0x68
+#define MPU9250_ADDR_ALT 0x69
+#define AK8963_ADDR 0x0C
 #define ICM42607P_ADDR 0x68
 #define ICM42607P_ADDR_ALT 0x69
 

src/detect/ScanI2C.cpp

@@ -37,9 +37,9 @@ ScanI2C::FoundDevice ScanI2C::firstKeyboard() const
 
 ScanI2C::FoundDevice ScanI2C::firstAccelerometer() const
 {
-    ScanI2C::DeviceType types[] = {MPU6050,  LIS3DH, SC7A20, BMA423,    LSM6DS3,    BMX160,  STK8BAXX,
-                                   ICM20948, BMM150, BMI270, ICM42607P, ISM330DHCX, QMA6100P};
-    return firstOfOrNONE(13, types);
+    ScanI2C::DeviceType types[] = {MPU6050,  LIS3DH, SC7A20, BMA423,    LSM6DS3,    BMX160,   STK8BAXX,
+                                   ICM20948, BMM150, BMI270, ICM42607P, ISM330DHCX, QMA6100P, MPU9250};
+    return firstOfOrNONE(14, types);
 }
 
 ScanI2C::FoundDevice ScanI2C::firstMagnetometer() const

src/detect/ScanI2C.h

@@ -95,6 +95,7 @@ class ScanI2C
         CST226SE,
         CST3530,
         BMI270,
+        MPU9250,
         SEN5X,
         SFA30,
         CW2015,

src/detect/ScanI2CTwoWire.cpp

@@ -880,6 +880,12 @@ void ScanI2CTwoWire::scanPort(I2CPort port, uint8_t *address, uint8_t asize)
                         type = ICM42607P;
                         logFoundDevice("ICM-42607-P", (uint8_t)addr.address);
                         break;
+                    } else if (registerValue == 0x71 || registerValue == 0x73) {
+                        // MPU-9250 (0x71) / MPU-9255 (0x73) share 0x68/0x69 with MPU-6050 and BMX160;
+                        // WHO_AM_I disambiguates them here.
+                        type = MPU9250;
+                        logFoundDevice(registerValue == 0x73 ? "MPU9255" : "MPU9250", (uint8_t)addr.address);
+                        break;
                     } else if (registerValue == 0x68) { // WHO_AM_I from datasheet
                         type = MPU6050;
                         logFoundDevice("MPU6050", (uint8_t)addr.address);

src/motion/AccelerometerThread.h

@@ -20,6 +20,7 @@
 #include "LIS3DHSensor.h"
 #include "LSM6DS3Sensor.h"
 #include "MPU6050Sensor.h"
+#include "MPU9250Sensor.h"
 #include "MotionSensor.h"
 #ifdef HAS_QMA6100P
 #include "QMA6100PSensor.h"
@@ -125,6 +126,9 @@ class AccelerometerThread : public concurrency::OSThread
             sensor = new ICM20948Sensor(device);
             break;
 #endif
+        case ScanI2C::DeviceType::MPU9250:
+            sensor = new MPU9250Sensor(device);
+            break;
 #if __has_include(<ICM42670P.h>)
         case ScanI2C::DeviceType::ICM42607P:
             sensor = new ICM42607PSensor(device);