mpu6050.h

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/*
 * The MIT License (MIT)
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of itscontributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef __MPU6050_H__
#define __MPU6050_H__
 
#include <esp_err.h>
#include <i2cdev.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
// Address of MPU6050 (Can be 0x68 or 0x69):
#define MPU6050_I2C_ADDRESS_LOW  (0x68) // Address pin low (GND).
#define MPU6050_I2C_ADDRESS_HIGH (0x69) // Address pin high (VCC).

typedef struct
{
    int16_t x; 
    int16_t y; 
    int16_t z; 
} mpu6050_raw_acceleration_t;

typedef struct
{
    int16_t x; 
    int16_t y; 
    int16_t z; 
} mpu6050_raw_rotation_t;

typedef struct
{
    float x; 
    float y; 
    float z; 
} mpu6050_acceleration_t;

typedef struct
{
    float x; 
    float y; 
    float z; 
} mpu6050_rotation_t;

typedef enum {
    MPU6050_VDDIO_VLOGIC = 0,
    MPU6050_VDDIO_VDD,
} mpu6050_vddio_level_t;

typedef enum {
    MPU6050_X_AXIS = 0,
    MPU6050_Y_AXIS,
    MPU6050_Z_AXIS,
} mpu6050_axis_t;

typedef enum {
    MPU6050_CLOCK_INTERNAL = 0, 
    MPU6050_CLOCK_PLL_X,        
    MPU6050_CLOCK_PLL_Y,        
    MPU6050_CLOCK_PLL_Z,        
    MPU6050_CLOCK_EXT_32768HZ,  
    MPU6050_CLOCK_EXT_19_2MHZ,  
    MPU6050_CLOCK_RESERVED,
    MPU6050_CLOCK_STOP          
} mpu6050_clock_source_t;

typedef enum {
    MPU6050_INT_DATA_READY  = BIT(0),  
    MPU6050_INT_DMP         = BIT(1),  
    MPU6050_INT_PLL_READY   = BIT(2),  
    MPU6050_INT_I2C_MASTER  = BIT(3),  
    MPU6050_INT_FIFO_OFLOW  = BIT(4),  
    MPU6050_INT_ZERO_MOTION = BIT(5),  
    MPU6050_INT_MOTION      = BIT(6),  
    MPU6050_INT_FREEFALL    = BIT(7),  
} mpu6050_int_source_t;

typedef enum {
    MPU6050_INT_PUSH_PULL = 0, 
    MPU6050_INT_OPEN_DRAIN,    
} mpu6050_int_drive_t;

typedef enum {
    MPU6050_EXT_SYNC_DISABLED = 0,
    MPU6050_EXT_SYNC_TEMP_OUT,
    MPU6050_EXT_SYNC_GYRO_XOUT,
    MPU6050_EXT_SYNC_GYRO_YOUT,
    MPU6050_EXT_SYNC_GYRO_ZOUT,
    MPU6050_EXT_SYNC_ACCEL_XOUT,
    MPU6050_EXT_SYNC_ACCEL_YOUT,
    MPU6050_EXT_SYNC_ACCEL_ZOUT,
} mpu6050_ext_sync_t;

typedef enum {
    MPU6050_DLPF_0 = 0, 
    MPU6050_DLPF_1,     
    MPU6050_DLPF_2,     
    MPU6050_DLPF_3,     
    MPU6050_DLPF_4,     
    MPU6050_DLPF_5,     
    MPU6050_DLPF_6,     
} mpu6050_dlpf_mode_t;

typedef enum {
    MPU6050_GYRO_RANGE_250 = 0,  
    MPU6050_GYRO_RANGE_500,      
    MPU6050_GYRO_RANGE_1000,     
    MPU6050_GYRO_RANGE_2000,     
} mpu6050_gyro_range_t;

typedef enum {
    MPU6050_ACCEL_RANGE_2 = 0, 
    MPU6050_ACCEL_RANGE_4,     
    MPU6050_ACCEL_RANGE_8,     
    MPU6050_ACCEL_RANGE_16,    
} mpu6050_accel_range_t;

typedef enum {
    MPU6050_DHPF_RESET = 0, 
    MPU6050_DHPF_5,         
    MPU6050_DHPF_2_5,       
    MPU6050_DHPF_1_25,      
    MPU6050_DHPF_0_63,      
    MPU6050_DHPF_HOLD,      
} mpu6050_dhpf_mode_t;

typedef enum {
    MPU6050_SLAVE_0 = 0,
    MPU6050_SLAVE_1,
    MPU6050_SLAVE_2,
    MPU6050_SLAVE_3,
    MPU6050_SLAVE_4,
} mpu6050_slave_t;

typedef enum {
    MPU6050_I2C_MASTER_CLOCK_348 = 0,   
    MPU6050_I2C_MASTER_CLOCK_333,       
    MPU6050_I2C_MASTER_CLOCK_320,       
    MPU6050_I2C_MASTER_CLOCK_308,       
    MPU6050_I2C_MASTER_CLOCK_296,       
    MPU6050_I2C_MASTER_CLOCK_286,       
    MPU6050_I2C_MASTER_CLOCK_276,       
    MPU6050_I2C_MASTER_CLOCK_267,       
    MPU6050_I2C_MASTER_CLOCK_258,       
    MPU6050_I2C_MASTER_CLOCK_500,       
    MPU6050_I2C_MASTER_CLOCK_471,       
    MPU6050_I2C_MASTER_CLOCK_444,       
    MPU6050_I2C_MASTER_CLOCK_421,       
    MPU6050_I2C_MASTER_CLOCK_400,       
    MPU6050_I2C_MASTER_CLOCK_381,       
    MPU6050_I2C_MASTER_CLOCK_364,       
} mpu6050_i2c_master_clock_t;

typedef enum {
    MPU6050_INT_LEVEL_HIGH = 0, 
    MPU6050_INT_LEVEL_LOW,      
} mpu6050_int_level_t;

typedef enum {
    MPU6050_INT_LATCH_PULSE = 0,  
    MPU6050_INT_LATCH_CONTINUOUS, 
} mpu6050_int_latch_t;

typedef enum {
    MPU6050_WAKE_FREQ_1_25 = 0, 
    MPU6050_WAKE_FREQ_5,        
    MPU6050_WAKE_FREQ_20,       
    MPU6050_WAKE_FREQ_40,       
} mpu6050_wake_freq_t;

typedef enum {
    MPU6050_MOTION_ZERO  = BIT(0),
    MPU6050_MOTION_Z_POS = BIT(2),
    MPU6050_MOTION_Z_NEG = BIT(3),
    MPU6050_MOTION_Y_POS = BIT(4),
    MPU6050_MOTION_Y_NEG = BIT(5),
    MPU6050_MOTION_X_POS = BIT(6),
    MPU6050_MOTION_X_NEG = BIT(7),
} mpu6050_motion_det_flags_t;

typedef struct {
    i2c_dev_t i2c_dev;
    struct
    {
        mpu6050_gyro_range_t gyro;
        mpu6050_accel_range_t accel;
    } ranges;
} mpu6050_dev_t;

esp_err_t mpu6050_init_desc(mpu6050_dev_t *dev, uint8_t addr, i2c_port_t port, gpio_num_t sda_gpio, gpio_num_t scl_gpio);

esp_err_t mpu6050_free_desc(mpu6050_dev_t *dev);

esp_err_t mpu6050_init(mpu6050_dev_t *dev);

esp_err_t mpu6050_get_aux_vddio_level(mpu6050_dev_t *dev, mpu6050_vddio_level_t *level);

esp_err_t mpu6050_set_aux_vddio_level(mpu6050_dev_t *dev, mpu6050_vddio_level_t level);

esp_err_t mpu6050_get_rate(mpu6050_dev_t *dev, uint8_t *rate);

esp_err_t mpu6050_set_rate(mpu6050_dev_t *dev, uint8_t rate);

esp_err_t mpu6050_get_external_frame_sync(mpu6050_dev_t *dev, mpu6050_ext_sync_t *sync);

esp_err_t mpu6050_set_external_frame_sync(mpu6050_dev_t *dev, mpu6050_ext_sync_t sync);

esp_err_t mpu6050_get_dlpf_mode(mpu6050_dev_t *dev, mpu6050_dlpf_mode_t *mode);

esp_err_t mpu6050_set_dlpf_mode(mpu6050_dev_t *dev, mpu6050_dlpf_mode_t mode);

esp_err_t mpu6050_get_full_scale_gyro_range(mpu6050_dev_t *dev, mpu6050_gyro_range_t *gyro_range);

esp_err_t mpu6050_set_full_scale_gyro_range(mpu6050_dev_t *dev, mpu6050_gyro_range_t range);

esp_err_t mpu6050_get_accel_self_test_factory_trim(mpu6050_dev_t *dev, mpu6050_axis_t axis, uint8_t *trim);

esp_err_t mpu6050_get_gyro_self_test_factory_trim(mpu6050_dev_t *dev, mpu6050_axis_t axis, uint8_t *trim);

esp_err_t mpu6050_get_accel_self_test(mpu6050_dev_t *dev, mpu6050_axis_t axis, bool *enabled);

esp_err_t mpu6050_set_accel_self_test(mpu6050_dev_t *dev, mpu6050_axis_t axis, bool enabled);

esp_err_t mpu6050_get_full_scale_accel_range(mpu6050_dev_t *dev, mpu6050_accel_range_t *range);

esp_err_t mpu6050_set_full_scale_accel_range(mpu6050_dev_t *dev, mpu6050_accel_range_t range);

esp_err_t mpu6050_get_dhpf_mode(mpu6050_dev_t *dev, mpu6050_dhpf_mode_t *mode);

esp_err_t mpu6050_set_dhpf_mode(mpu6050_dev_t *dev, mpu6050_dhpf_mode_t mode);

esp_err_t mpu6050_get_freefall_detection_threshold(mpu6050_dev_t *dev, uint8_t *threshold);

esp_err_t mpu6050_set_freefall_detection_threshold(mpu6050_dev_t *dev, uint8_t threshold);

esp_err_t mpu6050_get_freefall_detection_duration(mpu6050_dev_t *dev, uint8_t *duration_ms);

esp_err_t mpu6050_set_freefall_detection_duration(mpu6050_dev_t *dev, uint8_t duration_ms);

esp_err_t mpu6050_get_motion_detection_threshold(mpu6050_dev_t *dev, uint8_t *threshold);

esp_err_t mpu6050_set_motion_detection_threshold(mpu6050_dev_t *dev, uint8_t threshold);

esp_err_t mpu6050_get_motion_detection_duration(mpu6050_dev_t *dev, uint8_t *duration);

esp_err_t mpu6050_set_motion_detection_duration(mpu6050_dev_t *dev, uint8_t duration);

esp_err_t mpu6050_get_zero_motion_detection_threshold(mpu6050_dev_t *dev, uint8_t *threshold);

esp_err_t mpu6050_set_zero_motion_detection_threshold(mpu6050_dev_t *dev, uint8_t threshold);

esp_err_t mpu6050_get_zero_motion_detection_duration(mpu6050_dev_t *dev, uint8_t *duration);

esp_err_t mpu6050_set_zero_motion_detection_duration(mpu6050_dev_t *dev, uint8_t duration);

esp_err_t mpu6050_get_temp_fifo_enabled(mpu6050_dev_t *dev, bool *enabled);

esp_err_t mpu6050_set_temp_fifo_enabled(mpu6050_dev_t *dev, bool enabled);

esp_err_t mpu6050_get_gyro_fifo_enabled(mpu6050_dev_t *dev, mpu6050_axis_t axis, bool *enabled);

esp_err_t mpu6050_set_gyro_fifo_enabled(mpu6050_dev_t *dev, mpu6050_axis_t axis, bool enabled);

esp_err_t mpu6050_get_accel_fifo_enabled(mpu6050_dev_t *dev, bool *enabled);

esp_err_t mpu6050_set_accel_fifo_enabled(mpu6050_dev_t *dev, bool enabled);

esp_err_t mpu6050_get_slave_fifo_enabled(mpu6050_dev_t *dev, mpu6050_slave_t num, bool *enabled);

esp_err_t mpu6050_set_slave_fifo_enabled(mpu6050_dev_t *dev, mpu6050_slave_t num, bool enabled);

esp_err_t mpu6050_get_multi_master_enabled(mpu6050_dev_t *dev, bool *enabled);

esp_err_t mpu6050_set_multi_master_enabled(mpu6050_dev_t *dev, bool enabled);

esp_err_t mpu6050_get_wait_for_external_sensor_enabled(mpu6050_dev_t *dev, bool *enabled);

esp_err_t mpu6050_set_wait_for_external_sensor_enabled(mpu6050_dev_t *dev, bool enabled);

esp_err_t mpu6050_get_slave_read_write_transition_enabled(mpu6050_dev_t *dev, bool *enabled);

esp_err_t mpu6050_set_slave_read_write_transition_enabled(mpu6050_dev_t *dev, bool enabled);

esp_err_t mpu6050_get_master_clock_speed(mpu6050_dev_t *dev, mpu6050_i2c_master_clock_t *clk_spd);

esp_err_t mpu6050_set_master_clock_speed(mpu6050_dev_t *dev, mpu6050_i2c_master_clock_t clk_spd);

esp_err_t mpu6050_get_slave_address(mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t *addr);

esp_err_t mpu6050_set_slave_address(mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t address);

esp_err_t mpu6050_get_slave_register(mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t *reg);

esp_err_t mpu6050_set_slave_register(mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t reg);

esp_err_t mpu6050_get_slave_enabled(mpu6050_dev_t *dev, mpu6050_slave_t num, bool *enabled);

esp_err_t mpu6050_set_slave_enabled(mpu6050_dev_t *dev, mpu6050_slave_t num, bool enabled);

esp_err_t mpu6050_get_slave_word_byte_swap(mpu6050_dev_t *dev, mpu6050_slave_t num, bool *enabled);

esp_err_t mpu6050_set_slave_word_byte_swap(mpu6050_dev_t *dev, mpu6050_slave_t num, bool enabled);

esp_err_t mpu6050_get_slave_write_mode(mpu6050_dev_t *dev, mpu6050_slave_t num, bool *mode);

esp_err_t mpu6050_set_slave_write_mode(mpu6050_dev_t *dev, mpu6050_slave_t num, bool mode);

esp_err_t mpu6050_get_slave_word_group_offset(mpu6050_dev_t *dev, mpu6050_slave_t num, bool *enabled);

esp_err_t mpu6050_set_slave_word_group_offset(mpu6050_dev_t *dev, mpu6050_slave_t num, bool enabled);

esp_err_t mpu6050_get_slave_data_length(mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t *length);

esp_err_t mpu6050_set_slave_data_length(mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t length);

esp_err_t mpu6050_set_slave_4_output_byte(mpu6050_dev_t *dev, uint8_t data);

esp_err_t mpu6050_get_slave_4_interrupt_enabled(mpu6050_dev_t *dev, bool *enabled);

esp_err_t mpu6050_set_slave_4_interrupt_enabled(mpu6050_dev_t *dev, bool enabled);

esp_err_t mpu6050_get_slave_4_master_delay(mpu6050_dev_t *dev, uint8_t *delay);

esp_err_t mpu6050_set_slave_4_master_delay(mpu6050_dev_t *dev, uint8_t delay);

esp_err_t mpu6050_get_slave_4_input_byte(mpu6050_dev_t *dev, uint8_t *byte);

esp_err_t mpu6050_get_passthrough_status(mpu6050_dev_t *dev, bool *enabled);

esp_err_t mpu6050_get_slave_4_is_done(mpu6050_dev_t *dev, bool *enabled);

esp_err_t mpu6050_get_lost_arbitration(mpu6050_dev_t *dev, bool *lost);

esp_err_t mpu6050_get_slave_nack(mpu6050_dev_t *dev, mpu6050_slave_t num, bool *nack);

esp_err_t mpu6050_get_interrupt_mode(mpu6050_dev_t *dev, mpu6050_int_level_t *mode);

esp_err_t mpu6050_set_interrupt_mode(mpu6050_dev_t *dev, mpu6050_int_level_t mode);

esp_err_t mpu6050_get_interrupt_drive(mpu6050_dev_t *dev, mpu6050_int_drive_t *drive);

esp_err_t mpu6050_set_interrupt_drive(mpu6050_dev_t *dev, mpu6050_int_drive_t drive);

esp_err_t mpu6050_get_interrupt_latch(mpu6050_dev_t *dev, mpu6050_int_latch_t *latch);

esp_err_t mpu6050_set_interrupt_latch(mpu6050_dev_t *dev, mpu6050_int_latch_t latch);

esp_err_t mpu6050_get_interrupt_latch_clear(mpu6050_dev_t *dev, bool *clear);

esp_err_t mpu6050_set_interrupt_latch_clear(mpu6050_dev_t *dev, bool clear);

esp_err_t mpu6050_get_fsync_interrupt_level(mpu6050_dev_t *dev, mpu6050_int_level_t *level);

esp_err_t mpu6050_set_fsync_interrupt_level(mpu6050_dev_t *dev, mpu6050_int_level_t level);

esp_err_t mpu6050_get_fsync_interrupt_enabled(mpu6050_dev_t *dev, bool *enabled);

esp_err_t mpu6050_set_fsync_interrupt_enabled(mpu6050_dev_t *dev, bool enabled);

esp_err_t mpu6050_get_i2c_bypass_enabled(mpu6050_dev_t *dev, bool *enabled);

esp_err_t mpu6050_set_i2c_bypass_enabled(mpu6050_dev_t *dev, bool enabled);

esp_err_t mpu6050_get_clock_output_enabled(mpu6050_dev_t *dev, bool *enabled);

esp_err_t mpu6050_set_clock_output_enabled(mpu6050_dev_t *dev, bool enabled);

esp_err_t mpu6050_get_int_enabled(mpu6050_dev_t *dev, uint8_t *ints);

esp_err_t mpu6050_set_int_enabled(mpu6050_dev_t *dev, uint8_t ints);

esp_err_t mpu6050_get_int_status(mpu6050_dev_t *dev, uint8_t *ints);

esp_err_t mpu6050_get_accel_offset(mpu6050_dev_t *dev, mpu6050_axis_t axis, int16_t *offset);

esp_err_t mpu6050_set_accel_offset(mpu6050_dev_t *dev, mpu6050_axis_t axis, int16_t offset);

esp_err_t mpu6050_get_gyro_offset(mpu6050_dev_t *dev, mpu6050_axis_t axis, int16_t *offset);

esp_err_t mpu6050_set_gyro_offset(mpu6050_dev_t *dev, mpu6050_axis_t axis, int16_t offset);

esp_err_t mpu6050_get_acceleration(mpu6050_dev_t *dev, mpu6050_acceleration_t *accel);

esp_err_t mpu6050_get_raw_acceleration(mpu6050_dev_t *dev, mpu6050_raw_acceleration_t *raw_accel);

esp_err_t mpu6050_get_acceleration_axis(mpu6050_dev_t *dev, mpu6050_axis_t axis, float *accel);

esp_err_t mpu6050_get_raw_acceleration_axis(mpu6050_dev_t *dev, mpu6050_axis_t axis, int16_t *raw_accel);

esp_err_t mpu6050_get_temperature(mpu6050_dev_t *dev, float *temp);

esp_err_t mpu6050_get_rotation(mpu6050_dev_t *dev, mpu6050_rotation_t *gyro);

esp_err_t mpu6050_get_raw_rotation(mpu6050_dev_t *dev, mpu6050_raw_rotation_t *raw_gyro);

esp_err_t mpu6050_get_rotation_axis(mpu6050_dev_t *dev, mpu6050_axis_t axis, float *gyro);

esp_err_t mpu6050_get_raw_rotation_axis(mpu6050_dev_t *dev, mpu6050_axis_t axis, int16_t *raw_gyro);

esp_err_t mpu6050_get_motion(mpu6050_dev_t *dev, mpu6050_acceleration_t *data_accel, mpu6050_rotation_t *data_gyro);

esp_err_t mpu6050_get_external_sensor_data(mpu6050_dev_t *dev, int position, void *buf, size_t length);

esp_err_t mpu6050_get_motion_status(mpu6050_dev_t *dev, uint8_t *status);

esp_err_t mpu6050_set_slave_output_byte(mpu6050_dev_t *dev, mpu6050_slave_t num, uint8_t data);

esp_err_t mpu6050_get_external_shadow_delay_enabled(mpu6050_dev_t *dev, bool *enabled);

esp_err_t mpu6050_set_external_shadow_delay_enabled(mpu6050_dev_t *dev, bool enabled);

esp_err_t mpu6050_get_slave_delay_enabled(mpu6050_dev_t *dev, mpu6050_slave_t num, bool *enabled);

esp_err_t mpu6050_set_slave_delay_enabled(mpu6050_dev_t *dev, mpu6050_slave_t num, bool enabled);

esp_err_t mpu6050_reset_gyroscope_path(mpu6050_dev_t *dev);

esp_err_t mpu6050_reset_accelerometer_path(mpu6050_dev_t *dev);

esp_err_t mpu6050_reset_temperature_path(mpu6050_dev_t *dev);

esp_err_t mpu6050_get_accelerometer_power_on_delay(mpu6050_dev_t *dev, uint8_t *delay);

esp_err_t mpu6050_set_accelerometer_power_on_delay(mpu6050_dev_t *dev, uint8_t delay);

esp_err_t mpu6050_get_freefall_detection_counter_decrement(mpu6050_dev_t *dev, uint8_t *decrement);

esp_err_t mpu6050_set_freefall_detection_counter_decrement(mpu6050_dev_t *dev, uint8_t decrement);

esp_err_t mpu6050_get_motion_detection_counter_decrement(mpu6050_dev_t *dev, uint8_t *decrement);

esp_err_t mpu6050_set_motion_detection_counter_decrement(mpu6050_dev_t *dev, uint8_t decrement);

esp_err_t mpu6050_get_fifo_enabled(mpu6050_dev_t *dev, bool *enabled);

esp_err_t mpu6050_set_fifo_enabled(mpu6050_dev_t *dev, bool enabled);

esp_err_t mpu6050_get_i2c_master_mode_enabled(mpu6050_dev_t *dev, bool *enabled);

esp_err_t mpu6050_set_i2c_master_mode_enabled(mpu6050_dev_t *dev, bool enabled);

esp_err_t mpu6050_switch_spie_enabled(mpu6050_dev_t *dev, bool enabled);

esp_err_t mpu6050_reset_fifo(mpu6050_dev_t *dev);

esp_err_t mpu6050_reset_sensors(mpu6050_dev_t *dev);

esp_err_t mpu6050_reset(mpu6050_dev_t *dev);

esp_err_t mpu6050_get_sleep_enabled(mpu6050_dev_t *dev, bool *enabled);

esp_err_t mpu6050_set_sleep_enabled(mpu6050_dev_t *dev, bool enabled);

esp_err_t mpu6050_get_wake_cycle_enabled(mpu6050_dev_t *dev, bool *enabled);

esp_err_t mpu6050_set_wake_cycle_enabled(mpu6050_dev_t *dev, bool enabled);

esp_err_t mpu6050_get_temp_sensor_enabled(mpu6050_dev_t *dev, bool *enabled);

esp_err_t mpu6050_set_temp_sensor_enabled(mpu6050_dev_t *dev, bool enabled);

esp_err_t mpu6050_get_clock_source(mpu6050_dev_t *dev, mpu6050_clock_source_t *source);

esp_err_t mpu6050_set_clock_source(mpu6050_dev_t *dev, mpu6050_clock_source_t source);

esp_err_t mpu6050_get_wake_frequency(mpu6050_dev_t *dev, mpu6050_wake_freq_t *frequency);

esp_err_t mpu6050_set_wake_frequency(mpu6050_dev_t *dev, mpu6050_wake_freq_t frequency);

esp_err_t mpu6050_get_standby_accel_enabled(mpu6050_dev_t *dev, mpu6050_axis_t axis, bool *enabled);

esp_err_t mpu6050_set_standby_accel_enabled(mpu6050_dev_t *dev, mpu6050_axis_t axis, bool enabled);

esp_err_t mpu6050_get_standby_gyro_enabled(mpu6050_dev_t *dev, mpu6050_axis_t axis, bool *enabled);

esp_err_t mpu6050_set_standby_gyro_enabled(mpu6050_dev_t *dev, mpu6050_axis_t axis, bool enabled);

esp_err_t mpu6050_get_fifo_count(mpu6050_dev_t *dev, uint16_t *count);

esp_err_t mpu6050_get_fifo_byte(mpu6050_dev_t *dev, uint8_t *data);

esp_err_t mpu6050_get_fifo_bytes(mpu6050_dev_t *dev, uint8_t *data, size_t length);

esp_err_t mpu6050_set_fifo_byte(mpu6050_dev_t *dev, uint8_t data);

esp_err_t mpu6050_get_device_id(mpu6050_dev_t *dev, uint8_t *id);

esp_err_t mpu6050_calibrate(mpu6050_dev_t *dev, float *accel_bias_res, float *gyro_bias_res);

esp_err_t mpu6050_self_test(mpu6050_dev_t *dev, float *destination);
 
#ifdef __cplusplus
}
#endif

 
#endif /* __MPU6050_H__ */