Initial commit

mpu_handler.h

@@ -0,0 +1,25 @@
+#ifndef MPU_HANDLER_H
+#define MPU_HANDLER_H
+
+#include "pico/stdlib.h"
+#include "hardware/i2c.h"
+
+#define I2C_PORT i2c0
+#define SDA_PIN 4
+#define SCL_PIN 5
+#define MPU_ADDR 0x68
+#define MAG_ADDR 0x0C
+
+typedef struct {
+    float ax, ay, az;
+    float gx, gy, gz;
+    float mx, my, mz;
+} MPU_Data_t;
+
+void mpu_init(void);
+
+void mpu_calibrate(void);
+
+void mpu_read_data(MPU_Data_t *data);
+
+#endif //MPU_HANDLER_H