/*
 * mpu6500.h
 *
 *  Created on: Mar 4, 2024
 *      Author: gxms0
 */

#ifndef BSP_MPU6500_H_
#define BSP_MPU6500_H_

#include "ch32v20x.h"
#include <string.h>
#include <stdlib.h>
#include "drv_i2c.h"

typedef struct sMPU {

    I2C_ptr i2c;
    uint16_t address;

    uint16_t (*read)(I2C_ptr ptr, uint16_t address, uint16_t reg,uint8_t *data, uint16_t len);
    uint16_t (*write)(I2C_ptr ptr, uint16_t address,  uint16_t reg,uint8_t *data, uint16_t len);

}MPU_t;

typedef MPU_t* MPU_ptr;

void mpu6xxx_init(MPU_ptr ptr,I2C_ptr i2c,uint16_t address);

uint16_t mpu6xxx_read(MPU_ptr ptr, uint8_t reg,uint8_t *data, uint16_t len);

uint16_t mpu6xxx_write(MPU_ptr ptr, uint8_t reg,uint8_t *data, uint16_t len);



#endif /* BSP_MPU6500_H_ */