MPU6050.h

#include "main.h"

#define MPU6050_ADDR 0xD0


#define MPU6050_SMPRT_DIV 0X19
#define MPU6050_WHO_AM_I 0X75
#define MPU6050_CONFIG 0X1A
#define MPU6050_GYRO_CONFIG 0X1B
#define MPU6050_ACCEL_CONFIG 0X1C
#define MPU6050_INT_PIN_CFG 0X37
#define MPU6050_INT_ENABLE 0X38
#define MPU6050_INT_STATUS 0X3A
#define MPU6050_ACCEL_XOUT_H 0X3B
#define MPU6050_ACCEL_XOUT_L 0X3C
#define MPU6050_PWR_MGMT_1 0X6B //most important



#define MPU6050_INT_PORT 	GPIOB
#define MPU6050_INT_PIN 	GPIO_PIN_5


typedef struct _MPU6050{
	short acc_x_raw;
	short acc_y_raw;
	short acc_z_raw;
	short temperature_raw;
	short gyro_x_raw;
	short gyro_y_raw;
	short gyro_z_raw;

	float acc_x;
	float acc_y;
	float acc_z;
	float temperature;
	float gyro_x;
	float gyro_y;
	float gyro_z;
}Struct_MPU6050;

extern Struct_MPU6050 MPU6050;

void MPU6050_Writebyte(uint8_t reg_addr, uint8_t val);
void MPU6050_Writebytes(uint8_t reg_addr, uint8_t len, uint8_t* data);
void MPU6050_Readbyte(uint8_t reg_addr, uint8_t* data);
void MPU6050_Readbytes(uint8_t reg_addr, uint8_t len, uint8_t* data);
void MPU6050_Initialization(void);
void MPU6050_Get6AxisRawData(Struct_MPU6050* mpu6050);
int MPU6050_DataReady(void);
void MPU6050_Get_LSB_Sensitivity(uint8_t FS_SCALE_GYRO, uint8_t FS_SCALE_ACC);
void MPU6050_DataConvert(Struct_MPU6050* mpu6050);
void MPU6050_ProcessData(Struct_MPU6050* mpu6050);