#ifndef MPU_H
#define MPU_H

#include <stdint.h>
#include <stdbool.h>
//Define Registers
#define MPU_ADDR          0x68

#define WHO_AM_I_REG            0x75
#define PWR_MAGT_1_REG      0x6B
#define CONFIG_REG              0x1A
#define GYRO_CONFIG_REG     0x1B
#define ACCEL_CONFIG_REG    0x1C
#define SMPLRT_DIV_REG      0x19
#define INT_STATUS_REG      0x3A
#define ACCEL_XOUT_H_REG    0x3B
#define TEMP_OUT_H_REG      0x41
#define GYRO_XOUT_H_REG     0x43
#define FIFO_EN_REG             0x23
#define INT_ENABLE_REG      0x38
#define I2CMACO_REG             0x23
#define USER_CNT_REG            0x6A
#define FIFO_COUNTH_REG     0x72
#define FIFO_R_W_REG            0x74

//1- MPU Configuration
typedef struct
{
    uint8_t ClockSource;
    uint8_t Gyro_Full_Scale;
    uint8_t Accel_Full_Scale;
    uint8_t CONFIG_DLPF;
    bool        Sleep_Mode_Bit;

}MPU_ConfigTypeDef;

enum PM_CLKSEL_ENUM
{
    Internal_8MHz   = 0x00,
    X_Axis_Ref          = 0x01,
    Y_Axis_Ref          = 0x02,
    Z_Axis_Ref          = 0x03,
    Ext_32_768KHz       = 0x04,
    Ext_19_2MHz         = 0x05,
    TIM_GENT_INREST = 0x07
};

enum gyro_FullScale_ENUM
{
    FS_SEL_250  = 0x00,
    FS_SEL_500  = 0x01,
    FS_SEL_1000 = 0x02,
    FS_SEL_2000 = 0x03
};

//4- Accelerometer Full Scale Range ENUM (1g = 9.81m/s2)
enum accel_FullScale_ENUM
{
    AFS_SEL_2g  = 0x00,
    AFS_SEL_4g,
    AFS_SEL_8g,
    AFS_SEL_16g
};
enum DLPF_CFG_ENUM
{
    DLPF_260A_256G_Hz = 0x00,
    DLPF_184A_188G_Hz = 0x01,
    DLPF_94A_98G_Hz     = 0x02,
    DLPF_44A_42G_Hz     = 0x03,
    DLPF_21A_20G_Hz     = 0x04,
    DLPF_10_Hz              = 0x05,
    DLPF_5_Hz               = 0x06
};
enum EXT_SYNC_SET_ENUM
{
    input_Disable = 0x00,
    TEMP_OUT_L      = 0x01,
    GYRO_XOUT_L     = 0x02,
    GYRO_YOUT_L     = 0x03,
    GYRO_ZOUT_L     = 0x04,
    ACCEL_XOUT_L    = 0x05,
    ACCEL_YOUT_L    = 0x06,
    ACCEL_ZOUT_L    = 0x07
};
//7. Raw data typedef
typedef struct
{
    int16_t x;
    int16_t y;
    int16_t z;
}RawData_Def;
typedef struct
{
    float x;
    float y;
    float z;
}ScaledData_Def;
//Function Prototype

//4- MPU6050 Initialaztion Configuration
void MPU6050_Config(MPU_ConfigTypeDef *config);
//5- Get Sample Rate Divider
uint8_t MPU6050_Get_SMPRT_DIV(void);
//6- Set Sample Rate Divider
void MPU6050_Set_SMPRT_DIV(uint8_t SMPRTvalue);
//7- External Frame Sync.
uint8_t MPU6050_Get_FSYNC(void);
//8- Set External Frame Sync.
void MPU6050_Set_FSYNC(enum EXT_SYNC_SET_ENUM ext_Sync);
//9- Get Accel Raw Data
void MPU6050_Get_Accel_RawData(RawData_Def *rawDef);//************
//10- Get Accel scaled data
void MPU6050_Get_Accel_Scale(ScaledData_Def *scaledDef);//***********
//11- Get Accel calibrated data
void MPU6050_Get_Accel_Cali(ScaledData_Def *CaliDef);
//12- Get Gyro Raw Data
void MPU6050_Get_Gyro_RawData(RawData_Def *rawDef);
//13- Get Gyro scaled data
void MPU6050_Get_Gyro_Scale(ScaledData_Def *scaledDef);
//14- Accel Calibration
void _Accel_Cali(float x_min, float x_max, float y_min, float y_max, float z_min, float z_max);
void SysTick_Handler(void);
void ticks_init(void);
uint32_t get_ticks(void);
void delay_ms(uint32_t ms);

#endif /* MPU_H */