mpu6500.h

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#ifndef MPU6500_H
#define MPU6500_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include <stdint.h>
 
/* I2C Address ---------------------------------------------------------------*/
 
#define MPU6500_I2C_ADDR (0x68U << 1)
 
/* Register Map --------------------------------------------------------------*/
 
 
#define MPU6500_SLEEP_WAKE_MASK 0xBFU
 
 
#define MPU6500_REG_WHO_AM_I 0x75U
#define MPU6500_REG_PWR_MGMT_1 0x6BU
#define MPU6500_REG_ACCEL_CONFIG 0x1CU
#define MPU6500_REG_GYRO_CONFIG 0x1BU
 
#define MPU6500_REG_ACCEL_MEASURE 0x3BU
 
#define MPU6500_REG_GYRO_MEASURE 0x43U //
 
 
 
/* Enums — Range Selection ---------------------------------------------------*/
 
typedef enum {
  MPU6500_ACC_SET_2G = 0x00,
  MPU6500_ACC_SET_4G = 0x08,
  MPU6500_ACC_SET_8G = 0x10,
  MPU6500_ACC_SET_16G = 0x18,
} Accel_Range;
 
typedef enum {
  MPU6500_Gyro_SET_250 = 0x00,
  MPU6500_Gyro_SET_500 = 0x08,
  MPU6500_Gyro_SET_1000 = 0x10,
  MPU6500_Gyro_SET_2000 = 0x18,
} Gyro_Range;
 
/* Enums — Internal Sensitivity Indexes --------------------------------------*/
 
typedef enum {
  MPU6500_Accel_2G = 0,
  MPU6500_Accel_4G,
  MPU6500_Accel_8G,
  MPU6500_Accel_16G,
} Accel_Calculation;
 
typedef enum {
  MPU6500_Gyro_250 = 0,
  MPU6500_Gyro_500,
  MPU6500_Gyro_1000,
  MPU6500_Gyro_2000,
} Gyro_Calculation;
 
/* Data Structs --------------------------------------------------------------*/
 
typedef struct {
  int16_t Gyro_X;
  int16_t Gyro_Y;
  int16_t Gyro_Z;
} MPU6500_Gyro_Data;
 
typedef struct {
  float Accel_X;
  float Accel_Y;
  float Accel_Z;
} MPU6500_Accel_Data;
 
/* Driver Configuration ------------------------------------------------------*/
 
typedef struct {
  int8_t (*write)(uint16_t dev_addr, uint16_t reg_addr, uint8_t *p_data,
                  uint16_t len);
 
  int8_t (*read)(uint16_t dev_addr, uint16_t reg_addr, uint8_t *p_data,
                 uint16_t len);
 
  void (*delay_ms)(uint32_t milliseconds);
 
  Accel_Calculation Accel_Setting;       
  Gyro_Calculation Gyro_Setting;         
  int8_t Gyro_Offset_Calibration[3];     
} MPU6500_Config;
 
/* Blocking API — assumes config->read()/write() return with data ready ------*/
 
int8_t MPU6500_Init(MPU6500_Config *config);
 
int8_t MPU6500_SetAccelRange(MPU6500_Config *config, Accel_Range range);
 
int8_t MPU6500_SetRotationRange(MPU6500_Config *config, Gyro_Range range);
 
int8_t MPU6500_Read_Gyro_Data(MPU6500_Config *config,
                              MPU6500_Gyro_Data *Gyro_Data);
 
int8_t MPU6500_Read_Accel_Data(MPU6500_Config *config,
                               MPU6500_Accel_Data *Accel_Data);
 
int8_t MPU6500_Gyro_Calibration(MPU6500_Config *config,
                                int8_t return_offset[3]);
 
/* Non-blocking (DMA / split-phase) API --------------------------------------*/
 
int8_t MPU6500_Read_Gyro_DMA(MPU6500_Config *config, uint8_t raw_buf[6]);
 
int8_t MPU6500_Read_Accel_DMA(MPU6500_Config *config, uint8_t raw_buf[6]);
 
void MPU6500_Process_Gyro_DMA(MPU6500_Config *config, const uint8_t raw_buf[6],
                              MPU6500_Gyro_Data *data);
 
void MPU6500_Process_Accel_DMA(MPU6500_Config *config, const uint8_t raw_buf[6],
                               MPU6500_Accel_Data *data);
 
#ifdef __cplusplus
}
#endif
 
#endif /* MPU6500_H */