tm_stm32f4_mpu6050.h

#ifndef TM_MPU6050_H
#define TM_MPU6050_H 100

/* C++ detection */
#ifdef __cplusplus
extern C {
#endif

#include "stm32f4xx.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_i2c.h"
#include "defines.h"
#include "tm_stm32f4_i2c.h"

/* Default I2C used */
#ifndef MPU6050_I2C
#define MPU6050_I2C                 I2C3
#define MPU6050_I2C_PINSPACK        TM_I2C_PinsPack_1
#endif

/* Default I2C clock */
#ifndef MPU6050_I2C_CLOCK
#define MPU6050_I2C_CLOCK           400000
#endif

/* Default I2C address */
#define MPU6050_I2C_ADDR            0xD0

/* Who I am register value */
#define MPU6050_I_AM                0x68

/* MPU6050 registers */
#define MPU6050_AUX_VDDIO           0x01
#define MPU6050_SMPLRT_DIV          0x19
#define MPU6050_CONFIG              0x1A
#define MPU6050_GYRO_CONFIG         0x1B
#define MPU6050_ACCEL_CONFIG        0x1C
#define MPU6050_MOTION_THRESH       0x1F
#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_ACCEL_YOUT_H        0x3D
#define MPU6050_ACCEL_YOUT_L        0x3E
#define MPU6050_ACCEL_ZOUT_H        0x3F
#define MPU6050_ACCEL_ZOUT_L        0x40
#define MPU6050_TEMP_OUT_H          0x41
#define MPU6050_TEMP_OUT_L          0x42
#define MPU6050_GYRO_XOUT_H         0x43
#define MPU6050_GYRO_XOUT_L         0x44
#define MPU6050_GYRO_YOUT_H         0x45
#define MPU6050_GYRO_YOUT_L         0x46
#define MPU6050_GYRO_ZOUT_H         0x47
#define MPU6050_GYRO_ZOUT_L         0x48
#define MPU6050_MOT_DETECT_STATUS   0x61
#define MPU6050_SIGNAL_PATH_RESET   0x68
#define MPU6050_MOT_DETECT_CTRL     0x69
#define MPU6050_USER_CTRL           0x6A
#define MPU6050_PWR_MGMT_1          0x6B
#define MPU6050_PWR_MGMT_2          0x6C
#define MPU6050_FIFO_COUNTH         0x72
#define MPU6050_FIFO_COUNTL         0x73
#define MPU6050_FIFO_R_W            0x74
#define MPU6050_WHO_AM_I            0x75

/* Gyro sensitivities in °/s */
#define MPU6050_GYRO_SENS_250       ((float) 131)
#define MPU6050_GYRO_SENS_500       ((float) 65.5)
#define MPU6050_GYRO_SENS_1000      ((float) 32.8)
#define MPU6050_GYRO_SENS_2000      ((float) 16.4)

/* Acce sensitivities in g */
#define MPU6050_ACCE_SENS_2         ((float) 16384)
#define MPU6050_ACCE_SENS_4         ((float) 8192)
#define MPU6050_ACCE_SENS_8         ((float) 4096)
#define MPU6050_ACCE_SENS_16        ((float) 2048)

typedef enum {
    TM_MPU6050_Device_0 = 0,   
    TM_MPU6050_Device_1 = 0x02 
} TM_MPU6050_Device_t;

typedef enum {
    TM_MPU6050_Result_Ok = 0x00,          
    TM_MPU6050_Result_DeviceNotConnected, 
    TM_MPU6050_Result_DeviceInvalid       
} TM_MPU6050_Result_t;

typedef enum {
    TM_MPU6050_Accelerometer_2G = 0x00, 
    TM_MPU6050_Accelerometer_4G = 0x01, 
    TM_MPU6050_Accelerometer_8G = 0x02, 
    TM_MPU6050_Accelerometer_16G = 0x03 
} TM_MPU6050_Accelerometer_t;

typedef enum {
    TM_MPU6050_Gyroscope_250s = 0x00,  
    TM_MPU6050_Gyroscope_500s = 0x01,  
    TM_MPU6050_Gyroscope_1000s = 0x02, 
    TM_MPU6050_Gyroscope_2000s = 0x03  
} TM_MPU6050_Gyroscope_t;

typedef struct {
    /* Private */
    uint8_t Address;         
    float Gyro_Mult;         
    float Acce_Mult;         
    /* Public */
    int16_t Accelerometer_X; 
    int16_t Accelerometer_Y; 
    int16_t Accelerometer_Z; 
    int16_t Gyroscope_X;     
    int16_t Gyroscope_Y;     
    int16_t Gyroscope_Z;     
    float Temperature;       
} TM_MPU6050_t;

TM_MPU6050_Result_t TM_MPU6050_Init(TM_MPU6050_t* DataStruct, TM_MPU6050_Device_t DeviceNumber, TM_MPU6050_Accelerometer_t AccelerometerSensitivity, TM_MPU6050_Gyroscope_t GyroscopeSensitivity);

TM_MPU6050_Result_t TM_MPU6050_ReadAccelerometer(TM_MPU6050_t* DataStruct);

TM_MPU6050_Result_t TM_MPU6050_ReadGyroscope(TM_MPU6050_t* DataStruct);

TM_MPU6050_Result_t TM_MPU6050_ReadTemperature(TM_MPU6050_t* DataStruct);

TM_MPU6050_Result_t TM_MPU6050_ReadAll(TM_MPU6050_t* DataStruct);

/* C++ detection */
#ifdef __cplusplus
}
#endif

#endif