MPU9250.h

/*
 * MPU925.h
 *
 *  Created on: 23 ìàÿ 2018 ã.
 *      Author: Max
 */

#ifndef MPU925_H_
#define MPU925_H_

#include "main.h"
#include "MPU9250_Config.h"

typedef enum GyroRange_ {
	GYRO_RANGE_250DPS = 0,
	GYRO_RANGE_500DPS,
	GYRO_RANGE_1000DPS,
	GYRO_RANGE_2000DPS
} GyroRange;

typedef enum AccelRange_ {
	ACCEL_RANGE_2G = 0,
	ACCEL_RANGE_4G,
	ACCEL_RANGE_8G,
	ACCEL_RANGE_16G
} AccelRange;

typedef enum DLPFBandwidth_ {
	DLPF_BANDWIDTH_184HZ = 0,
	DLPF_BANDWIDTH_92HZ,
	DLPF_BANDWIDTH_41HZ,
	DLPF_BANDWIDTH_20HZ,
	DLPF_BANDWIDTH_10HZ,
	DLPF_BANDWIDTH_5HZ
} DLPFBandwidth;

typedef enum SampleRateDivider_ {
	LP_ACCEL_ODR_0_24HZ = 0,
	LP_ACCEL_ODR_0_49HZ,
	LP_ACCEL_ODR_0_98HZ,
	LP_ACCEL_ODR_1_95HZ,
	LP_ACCEL_ODR_3_91HZ,
	LP_ACCEL_ODR_7_81HZ,
	LP_ACCEL_ODR_15_63HZ,
	LP_ACCEL_ODR_31_25HZ,
	LP_ACCEL_ODR_62_50HZ,
	LP_ACCEL_ODR_125HZ,
	LP_ACCEL_ODR_250HZ,
	LP_ACCEL_ODR_500HZ
} SampleRateDivider;

uint8_t MPU9250_Init();
/* read the data, each argiment should point to a array for x, y, and x */
void MPU9250_GetData(int16_t* AccData, int16_t* MagData, int16_t* GyroData);

/* sets the sample rate divider to values other than default */
void MPU9250_SetSampleRateDivider(SampleRateDivider srd);
/* sets the DLPF bandwidth to values other than default */
void MPU9250_SetDLPFBandwidth(DLPFBandwidth bandwidth);
/* sets the gyro full scale range to values other than default */
void MPU9250_SetGyroRange(GyroRange range);
/* sets the accelerometer full scale range to values other than default */
void MPU9250_SetAccelRange(AccelRange range);

#endif /* MPU925_H_ */