#ifndef MPU6050_H
#define MPU6050_H

#define MPU6050_ADDR            0x68

#define MPU_SELF_TEST_X         0x0D
#define MPU_SELF_TEST_Y         0x0E
#define MPU_SELF_TEST_Z         0x0F
#define MPU_SELF_TEST_A         0x10
#define MPU_SMPLRT_DIV          0x19
#define MPU_CONFIG              0x1A
#define MPU_GYRO_CONFIG         0x1B
#define MPU_ACCEL_CONFIG        0x1C
#define MPU_FIFO_EN             0x23
#define MPU_I2C_MST_CTRL        0x24
#define MPU_I2C_SLV0_ADDR       0x25
#define MPU_I2C_SLV0_REG        0x26
#define MPU_I2C_SLV0_CTRL       0x27
#define MPU_I2C_SLV1_ADDR       0x28
#define MPU_I2C_SLV1_REG        0x29
#define MPU_I2C_SLV1_CTRL       0x2A
#define MPU_I2C_SLV2_ADDR       0x2B
#define MPU_I2C_SLV2_REG        0x2C
#define MPU_I2C_SLV2_CTRL       0x2D
#define MPU_I2C_SLV3_ADDR       0x2E
#define MPU_I2C_SLV3_REG        0x2F
#define MPU_I2C_SLV3_CTRL       0x30
#define MPU_I2C_SLV4_ADDR       0x31
#define MPU_I2C_SLV4_REG        0x32
#define MPU_I2C_SLV4_DO         0x33
#define MPU_I2C_SLV4_CTRL       0x34
#define MPU_I2C_SLV4_DI         0x35
#define MPU_I2C_MST_STATUS      0x36
#define MPU_INT_PIN_CFG         0x37
#define MPU_INT_ENABLE          0x38
#define MPU_INT_STATUS          0x3A
#define MPU_ACCEL_XOUT_H        0x3B
#define MPU_ACCEL_XOUT_L        0x3C
#define MPU_ACCEL_YOUT_H        0x3D
#define MPU_ACCEL_YOUT_L        0x3E
#define MPU_ACCEL_ZOUT_H        0x3F
#define MPU_ACCEL_ZOUT_L        0x40
#define MPU_TEMP_OUT_H          0x41
#define MPU_TEMP_OUT_L          0x42
#define MPU_GYRO_XOUT_H         0x43
#define MPU_GYRO_XOUT_L         0x44
#define MPU_GYRO_YOUT_H         0x45
#define MPU_GYRO_YOUT_L         0x46
#define MPU_GYRO_ZOUT_H         0x47
#define MPU_GYRO_ZOUT_L         0x48
#define MPU_EXT_SENS_DATA_00    0x49
#define MPU_EXT_SENS_DATA_01    0x4A
#define MPU_EXT_SENS_DATA_02    0x4B
#define MPU_EXT_SENS_DATA_03    0x4C
#define MPU_EXT_SENS_DATA_04    0x4D
#define MPU_EXT_SENS_DATA_05    0x4E
#define MPU_EXT_SENS_DATA_06    0x4F
#define MPU_EXT_SENS_DATA_07    0x50
#define MPU_EXT_SENS_DATA_08    0x51
#define MPU_EXT_SENS_DATA_09    0x52
#define MPU_EXT_SENS_DATA_10    0x53
#define MPU_EXT_SENS_DATA_11    0x54
#define MPU_EXT_SENS_DATA_12    0x55
#define MPU_EXT_SENS_DATA_13    0x56
#define MPU_EXT_SENS_DATA_14    0x57
#define MPU_EXT_SENS_DATA_15    0x58
#define MPU_EXT_SENS_DATA_16    0x59
#define MPU_EXT_SENS_DATA_17    0x5A
#define MPU_EXT_SENS_DATA_18    0x5B
#define MPU_EXT_SENS_DATA_19    0x5C
#define MPU_EXT_SENS_DATA_20    0x5D
#define MPU_EXT_SENS_DATA_21    0x5E
#define MPU_EXT_SENS_DATA_22    0x5F
#define MPU_EXT_SENS_DATA_23    0x60
#define MPU_I2C_SLV0_DO         0x63
#define MPU_I2C_SLV1_DO         0x64
#define MPU_I2C_SLV2_DO         0x65
#define MPU_I2C_SLV3_DO         0x66
#define MPU_I2C_MST_DELAY_CTRL  0x67
#define MPU_SIGNAL_PATH_RESET   0x68
#define MPU_USER_CTRL           0x6A
#define MPU_PWR_MGMT_1          0x6B
#define MPU_PWR_MGMT_2          0x6C
#define MPU_FIFO_COUNTH         0x72
#define MPU_FIFO_COUNTL         0x73
#define MPU_FIFO_R_W            0x74
#define MPU_WHO_AM_I            0x75

typedef struct
{
  uint8_t data[6];
  int16_t x, y, z;
} ACCEL_GYRO_STRUCT;

ACCEL_GYRO_STRUCT accel, gyro;

void mpu6050_init(void);
void mpu6050_read_data(void);
void mpu6050_convert_data(ACCEL_GYRO_STRUCT *ag);
void mpu6050_write_byte(uint8_t address, uint8_t data);
uint8_t mpu6050_read_byte(uint8_t address);

#endif // MPU6050_H
