mpu_useful_stuff.h

/**
 * @brief MPU6050 constructor.
 */
void mpu6050_init();

/**
 * @brief: Get digital low-pass filter configuration. The DLPF_CFG parameter
 * sets the digital low pass filter configuration. It also determines the
 * internal sampling rate used by the device as shown in the table below.
 * Note: The accelerometer output rate is 1kHz. This means that for a Sample
 * Rate greater than 1kHz, the same accelerometer sample may be output to the
 * FIFO, DMP, and sensor registers more than once.
 *
 *          |   ACCELEROMETER    |           GYROSCOPE
 * DLPF_CFG | Bandwidth | Delay  | Bandwidth | Delay  | Sample Rate
 * ---------+-----------+--------+-----------+--------+-------------
 *  0       | 260Hz     | 0ms    | 256Hz     | 0.98ms | 8kHz
 *  1       | 184Hz     | 2.0ms  | 188Hz     | 1.9ms  | 1kHz
 *  2       | 94Hz      | 3.0ms  | 98Hz      | 2.8ms  | 1kHz
 *  3       | 44Hz      | 4.9ms  | 42Hz      | 4.8ms  | 1kHz
 *  4       | 21Hz      | 8.5ms  | 20Hz      | 8.3ms  | 1kHz
 *  5       | 10Hz      | 13.8ms | 10Hz      | 13.4ms | 1kHz
 *  6       | 5Hz       | 19.0ms | 5Hz       | 18.6ms | 1kHz
 *  7       |      Reserved      |      Reserved      | Reserved
 *
 * @return DLFP configuration.
 */
uint8_t mpu6050_get_dlpf_mode();

/**
 * @brief Set digital low-pass filter configuration.
 *
 * @param mode New DLFP configuration setting.
 */
void mpu6050_set_dlpf_mode(uint8_t mode);

/**
 * @brief Get full-scale gyroscope range. The FS_SEL parameter allows setting
 * the full-scale range of the gyro sensors, as described below:
 *
 * 0 = +/- 250 degrees/sec
 * 1 = +/- 500 degrees/sec
 * 2 = +/- 1000 degrees/sec
 * 3 = +/- 2000 degrees/sec
 *
 * @return Current full-scale gyroscope range setting.
 */
uint8_t mpu6050_get_full_scale_gyro_range();

/**
 * @brief Set full-scale gyroscope range.
 *
 * @param range New full-scale gyroscope range value.
 */
void mpu6050_set_full_scale_gyro_range(uint8_t range);

/**
 * @brief Get self-test factory trim value for accelerometer X axis.
 *
 * @return Factory trim value.
 */




/**
 * @brief Get full-scale accelerometer range.
 * The FS_SEL parameter allows setting the full-scale range of the accelerometer
 * sensors, as described below:
 *
 * 0 = +/- 2g
 * 1 = +/- 4g
 * 2 = +/- 8g
 * 3 = +/- 16g
 *
 * @return Current full-scale accelerometer range setting.
 */
uint8_t mpu6050_get_full_scale_accel_range();

/**
 * @brief Set full-scale accelerometer range.
 *
 * @param range New full-scale accelerometer range setting.
 */
void mpu6050_set_full_scale_accel_range(uint8_t range);



/**
 * @brief Get gyroscope output rate divider. The sensor register output,
 * FIFO output, DMP sampling, Motion Detection, Zero Motion Detection,
 * and Free Fall Detection are all based on the Sample Rate.
 * The Sample Rate is generated by dividing the gyroscope output rate by
 * SMPLRT_DIV:
 *
 * Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
 *
 * Where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
 * 7), and 1kHz when the DLPF is enabled.
 *
 * Note: The accelerometer output rate is 1kHz. This means that for a Sample
 * Rate greater than 1kHz, the same accelerometer sample may be output to the
 * FIFO, DMP, and sensor registers more than once.
 *
 * @return Current sample rate.
 */
uint8_t mpu6050_get_rate();

/**
 * @brief Set gyroscope output rate divider.
 *
 * @param rate New sample rate divider.
 */
void mpu6050_set_rate(uint8_t rate);



/**
 * @brief Calculates acceleration resolution.
 * 
 * @param accel_scale Acceleration scale. The scale range values are described
 * below:
 *
 * 0 = +/- 2g
 * 1 = +/- 4g
 * 2 = +/- 8g
 * 3 = +/- 16g
 * 
 * @return Resolution of the acceleration.
 */
float mpu6050_get_accel_res(uint8_t accel_scale);

/**
 * @brief Calculates rotation resolution.
 * 
 * @param accel_scale Rotation scale. The scale range values are described
 * below:
 *
 * 0 = +/- 250 degrees/sec
 * 1 = +/- 500 degrees/sec
 * 2 = +/- 1000 degrees/sec
 * 3 = +/- 2000 degrees/sec
 * 
 * @return Resolution of the acceleration.
 */
float mpu6050_get_gyro_res(uint8_t gyro_scale);

/**
 * @brief Function which accumulates gyro and accelerometer data after device
 * initialization. It calculates the average of the at-rest readings and then
 * loads the resulting offsets into accelerometer and gyro bias registers.
 * 
 * @param accel_bias_res Acceleration bias resolution.
 * @param gyro_bias_res Rotation bias resolution.
 */

/**
 * @brief Get raw 6-axis motion sensor readings (accel/gyro).
 * Retrieves all currently available motion sensor values.
 *
 * @param data_accel pointer to acceleration struct.
 * @param data_gyro pointer to rotation struct.
 */
void mpu6050_get_motion
(
    mpu6050_acceleration_t* data_accel,
    mpu6050_rotation_t* data_gyro
);




















// OUMBA3D edhorbou 3liha talla


/**
 * @brief Function which accumulates gyro and accelerometer data after device
 * initialization. It calculates the average of the at-rest readings and then
 * loads the resulting offsets into accelerometer and gyro bias registers.
 * 
 * @param accel_bias_res Acceleration bias resolution.
 * @param gyro_bias_res Rotation bias resolution.
 */
void mpu6050_calibrate(float *accel_bias_res, float *gyro_bias_res);