mpu_6050.h

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/*
 * Copyright (C) 2017 EPFL-LSRO (Laboratoire de Systemes Robotiques).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef __MPU_6050_H
#define __MPU_6050_H

#include "../main.h"

typedef enum
{
    MPU_ACCEL_RANGE_2G  = 0, 
    MPU_ACCEL_RANGE_4G  = 1, 
    MPU_ACCEL_RANGE_8G  = 2, 
    MPU_ACCEL_RANGE_16G = 3  
} mpu_AccelRange;

typedef enum
{
    MPU_GYRO_RANGE_250DPS  = 0, 
    MPU_GYRO_RANGE_500DPS  = 1, 
    MPU_GYRO_RANGE_1000DPS = 2, 
    MPU_GYRO_RANGE_2000DPS = 3 
} mpu_GyroRange;

typedef enum
{
    MPU_DLPF_BW_256HZ = 0, 
    MPU_DLPF_BW_188HZ = 1, 
    MPU_DLPF_BW_98HZ  = 2, 
    MPU_DLPF_BW_42HZ  = 3, 
    MPU_DLPF_BW_20HZ  = 4, 
    MPU_DLPF_BW_10HZ  = 5, 
    MPU_DLPF_BW_5HZ   = 6  
} mpu_Bandwidth;

typedef enum
{
    MPU_AXIS_ACCEL_X     = 0x3b,
    MPU_AXIS_ACCEL_Y     = 0x3d,
    MPU_AXIS_ACCEL_Z     = 0x3f,
    MPU_AXIS_TEMPERATURE = 0x41,
    MPU_AXIS_GYRO_X      = 0x43,
    MPU_AXIS_GYRO_Y      = 0x45,
    MPU_AXIS_GYRO_Z      = 0x47
} mpu_Axis;

bool mpu_Init(mpu_AccelRange accelRange, mpu_GyroRange gyroRange,
              mpu_Bandwidth bandwidth);
void mpu_GetAxis(mpu_Axis axis, float32_t *value);
void mpu_GetAcceleration(float32_t *ax, float32_t *ay, float32_t *az);
void mpu_GetAngularSpeed(float32_t *gx, float32_t *gy, float32_t *gz);
float mpu_GetTemperature(void);

#endif