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