mpu6050.h

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/*
 * mpu6050.h
 * 
 * Created : 9/27/2018
 *  Author : n-is
 *   email : 073bex422.nischal@pcampus.edu.np
 */

#ifndef _MPU6050_H_
#define _MPU6050_H_

#include "vec3.h"
#include "i2c.h"
#include "mpu6050_reg.h"

#define I2C_TIMEOUT     (5)

enum Accel_Scale
{
        SCALE_2G = 0,
        SCALE_4G,
        SCALE_8G,
        SCALE_16G
};

enum Gyro_Scale
{
        SCALE_250 = 0,
        SCALE_500,
        SCALE_1000,
        SCALE_2000
};

struct MPU6050
{
        I2C_HandleTypeDef *hi2c;
        Vec3<int16_t> raw_g_axis, raw_a_axis;
        Vec3<float> norm_g_axis, norm_a_axis;
        uint8_t address;
        float tmpr;
        enum Accel_Scale a_scale;
        enum Gyro_Scale g_scale;
};


int8_t MPU6050_Init(struct MPU6050 *mpu);
int8_t MPU6050_Read_Temp(struct MPU6050 *mpu);

int8_t MPU6050_Read_RawAccel(struct MPU6050 *mpu);
int8_t MPU6050_Read_RawGyro(struct MPU6050 *mpu);
int8_t MPU6050_Read_RawAxes(struct MPU6050 *mpu);

int8_t MPU6050_Read_NormAccel(struct MPU6050 *mpu);
int8_t MPU6050_Read_NormGyro(struct MPU6050 *mpu);
int8_t MPU6050_Read_NormAxes(struct MPU6050 *mpu);

Vec3<float> MPU6050_Calc_OmegaBias(struct MPU6050 *mpu, uint32_t n);


#endif // _MPU6050_H_