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57 lines
1.6 KiB
57 lines
1.6 KiB
/* Copyright 2021 bryan065
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "mpu9250registermap.h"
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#include "i2c_master.h"
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enum Axis {
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x,
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y,
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z,
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kAxis,
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};
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typedef int16_t mpu_data_t;
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#define MPU9250_ADDR (0x68 << 1)
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#define I2C_TIMEOUT 1000
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#define MPU_POLLRATE 50
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#ifndef MPU_ANGLE_SENS
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#define MPU_ANGLE_SENS 60
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#endif
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#ifndef MPU_SPEED_SENS
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#define MPU_SPEED_SENS -700
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#endif
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i2c_status_t mpu_readAccel(int16_t* read);
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i2c_status_t mpu_readGyro(int16_t* read);
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i2c_status_t mpu_readAccelGyro(int16_t* read);
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extern i2c_status_t update_accel_gyro(void);
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extern int16_t mpu_readTemp(void);
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extern void initMPU9250(void);
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extern float getAcc(const uint8_t i);
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extern float getGyro(const uint8_t i);
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extern int16_t getAccScaled(const uint8_t i, const uint8_t o);
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extern int16_t getGyroScaled(const uint8_t i, const uint8_t o);
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extern mpu_data_t getAccRaw(const uint8_t i);
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extern mpu_data_t getGyroRaw(const uint8_t i);
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