mpu6050.h

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#ifndef MPU6050_H_
#define MPU6050_H_
#include <stdio.h>

#define MPU_DEVICE_ADDRESS 0x68

#define MPU_DEVICE_ADDRESS_ALTERNATE 0x69

#define MPU_DATA_RANGE 32767.0f

typedef struct{

    uint8_t bus;
    uint8_t slaveAddress;
    uint8_t accelSen;
    uint16_t gyroSen;
}MPU6050;

typedef enum{

    MPU_ACCX,       
    MPU_ACCY,       
    MPU_ACCZ,       
    MPU_TEMP,       
    MPU_GYRX,       
    MPU_GYRY,       
    MPU_GYRZ,       
    MPU_ACC,        
    MPU_GYR,        
    MPU_IMU,        
    MPU_ALL,        

}mpu_data;

typedef enum{

    MPU_ACC_2G   =  0x00,     
    MPU_ACC_4G   =  0x08,     
    MPU_ACC_8G   =  0x10,     
    MPU_ACC_16G  =  0x18,     

}mpu_acc;

typedef enum{

    MPU_GYR_250   = 0x00,   
    MPU_GYR_500   = 0x08,   
    MPU_GYR_1000  = 0x10,   
    MPU_GYR_2000  = 0x18,   

}mpu_gyr;


//Device register addresses
#define MPU6050_ADD_ACCX 0x3B
#define MPU6050_ADD_ACCY 0x3D
#define MPU6050_ADD_ACCZ 0x3F
#define MPU6050_ADD_TEMP 0x41
#define MPU6050_ADD_GYRX 0x43
#define MPU6050_ADD_GYRY 0x45
#define MPU6050_ADD_GYRZ 0x47
#define MPU6050_ADD_WAI  0x75
#define MPU6050_ADD_PWR_MGMT_1  0x6B
#define MPU6050_ADD_ACCEL_CONFIG  0x1C
#define MPU6050_ADD_GYRO_CONFIG  0x1B

uint8_t MPU6050_setup(MPU6050 *target, uint8_t i2c_number, uint8_t address);
void MPU6050_writeByte(MPU6050 *target, uint8_t address, uint8_t data);
uint8_t MPU6050_readByte(MPU6050 *target, uint8_t address);
uint16_t MPU6050_readHalf(MPU6050 *target, uint8_t address);
void MPU6050_raw(MPU6050 *target, mpu_data what, int16_t *container);
void MPU6050_calc(MPU6050 *target, mpu_data what, float *container);
void MPU6050_setAcc(MPU6050 *target, mpu_acc range);
void MPU6050_setGyr(MPU6050 *target, mpu_gyr range);
uint8_t MPU6050_getAcc(MPU6050 *target);
uint16_t MPU6050_getGyr(MPU6050 *target);
#endif