#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