MPU6050.h

#ifndef MPU5060_HEADER
#define MPU5060_HEADER

#include "stdint.h"
#include "stdio.h"
#include "i2c.h"
#include "math.h"

/* General definitions */
#define ADDR 0x68
#define SCL_PIN (5) // D1
#define SDA_PIN (4) // D2
#define WHO_I_AM     0x75 // decimal 117
#define PWR_MGMT_1   0x6B // decimal 107. SLEEP
#define GYRO_CONFIG  0x1B // decimal 27
#define ACCEL_CONFIG 0x1C // decimal 28
#define ACCEL_XOUT_H 0x3B // decimal 59
#define FIFO_R_W 0x74     // decimal 116
#define FIFO_COUNTH   0x72
#define GRAVITY 9.826
#define ACCELEROMETER_SENSITIVITY 16384.0
#define GYROSCOPE_SENSITIVITY 131.0
#define TEMPERATURE_SENSIVITY 340.0
typedef union
{
    uint8_t buffer[14];         // Accessing the whole buffer

    struct                      // Accessing each value individually
    {
        int16_t accel_x : 16;
        int16_t accel_y : 16;
        int16_t accel_z : 16;
        int16_t temp : 16;
        int16_t gyro_x : 16;
        int16_t gyro_y : 16;
        int16_t gyro_z : 16;
    } value;

    struct                      // Acessing them as vectors
    {
        int16_t accel[3];
        int16_t temp;
        int16_t gyro[3];
    } vec;

} mpu_data_t;

// Attributes
static mpu_data_t mpu_raw_data;
static float accel[3];
static float gyro[3];
static float last_accel[3];
static float last_gyro[3];
static float temp;
static float vel[3];
static float dis[3];
static float dt;
static float pitch, roll;
static float offset_accel[3];
static float filter_accel[3];

// Basic read functions
void init_mpu();        // Wake MPU and setup GYRO and ACCEL
uint8_t check_mpu();    // Reads WHO_I_AM register from MPU and checks whether it is in SLEEP mode
bool read_values();     // Reads dev data and fill mpu_data buffer. Returns success of operation
void get_data_buffer(uint8_t *buffer); // Write data to an external buffer
void debug_values();            // Print some specific values for debug
bool tapped(float thresh);      // Returns whether the accel was tilter or not
void low_filter(float alpha);   // Low filter to stabilize accel values
float get_filt_accel( int i );  // Return filtered data
void print_values();            // Print values in screen
void print_filtered_values();   // Show filtered values
void print_temperature();       // Show temperature values

// Integration functions
bool set_dt(float new_dt);  // Min value 0.0001 and max value 1
float get_dt();             // Return dt
void reset_ref();           // Reseting references for integration */
void step();                // Execute a step and update velocity and distance. Implies read_values() execution
#endif