tm_stm32_mpu6050.h

#ifndef TM_MPU6050_H
#define TM_MPU6050_H 100

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

#include "stm32fxxx_hal.h"
#include "defines.h"
#include "tm_stm32_i2c.h"

/* Default I2C used */
#ifndef MPU6050_I2C
#define MPU6050_I2C                    I2C1              
#define MPU6050_I2C_PINSPACK           TM_I2C_PinsPack_1 
#endif

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

#define TM_MPU6050_DataRate_8KHz       0   
#define TM_MPU6050_DataRate_4KHz       1   
#define TM_MPU6050_DataRate_2KHz       3   
#define TM_MPU6050_DataRate_1KHz       7   
#define TM_MPU6050_DataRate_500Hz      15  
#define TM_MPU6050_DataRate_250Hz      31  
#define TM_MPU6050_DataRate_125Hz      63  
#define TM_MPU6050_DataRate_100Hz      79  
typedef enum _TM_MPU6050_Device_t {
    TM_MPU6050_Device_0 = 0x00, 
    TM_MPU6050_Device_1 = 0x02  
} TM_MPU6050_Device_t;

typedef enum _TM_MPU6050_Result_t {
    TM_MPU6050_Result_Ok = 0x00,          
    TM_MPU6050_Result_Error,              
    TM_MPU6050_Result_DeviceNotConnected, 
    TM_MPU6050_Result_DeviceInvalid       
} TM_MPU6050_Result_t;

typedef enum _TM_MPU6050_Accelerometer_t {
    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_t {
    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 _TM_MPU6050_t {
    /* 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;

typedef union _TM_MPU6050_Interrupt_t {
    struct {
        uint8_t DataReady:1;       
        uint8_t reserved2:2;       
        uint8_t Master:1;          
        uint8_t FifoOverflow:1;    
        uint8_t reserved1:1;       
        uint8_t MotionDetection:1; 
        uint8_t reserved0:1;       
    } F;
    uint8_t Status;
} TM_MPU6050_Interrupt_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_SetGyroscope(TM_MPU6050_t* DataStruct, TM_MPU6050_Gyroscope_t GyroscopeSensitivity);

TM_MPU6050_Result_t TM_MPU6050_SetAccelerometer(TM_MPU6050_t* DataStruct, TM_MPU6050_Accelerometer_t AccelerometerSensitivity);

TM_MPU6050_Result_t TM_MPU6050_SetDataRate(TM_MPU6050_t* DataStruct, uint8_t rate);

TM_MPU6050_Result_t TM_MPU6050_EnableInterrupts(TM_MPU6050_t* DataStruct);

TM_MPU6050_Result_t TM_MPU6050_DisableInterrupts(TM_MPU6050_t* DataStruct);

TM_MPU6050_Result_t TM_MPU6050_ReadInterrupts(TM_MPU6050_t* DataStruct, TM_MPU6050_Interrupt_t* InterruptsStruct);

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