#ifndef MPU6050_H
#define MPU6050_H

#include <linux/ioctl.h>

#define MPU6050_ACCESS_BY_GSE_I2C

#ifdef MPU6050_ACCESS_BY_GSE_I2C
    #define MPU6050_I2C_SLAVE_ADDR		(0xD2)   /* mtk i2c not allow to probe two same address */
#else
    #define MPU6050_I2C_SLAVE_ADDR		0xD0
#endif


/* MPU6050 Register Map  (Please refer to MPU6050 Specifications) */

#define MPU6050_REG_DEVID           0x75
#define MPU6050_REG_FIFO_EN         0x23    
#define MPU6050_REG_AUX_VDD         0x01    

#define MPU6050_REG_SAMRT_DIV       0x19    
#define MPU6050_REG_CFG             0x1A	  //set external sync, full-scale range and sample rate, low pass filter bandwidth
#define MPU6050_REG_GYRO_CFG        0x1B	  // full-scale range and sample rate, 


#define MPU6050_REG_GYRO_XH         0x43    

#define MPU6050_REG_TEMPH           0x41    


#define MPU6050_REG_FIFO_CNTH       0x72    
#define MPU6050_REG_FIFO_CNTL       0x73    
#define MPU6050_REG_FIFO_DATA       0x74    
#define MPU6050_REG_FIFO_CTL        0x6A    
#define MPU6050_REG_PWR_CTL	        0x6B    
#define MPU6050_REG_PWR_CTL2        0x6C


/*MPU6050 Register Bit definitions*/ 

#define MPU6050_FIFO_GYROX_EN       0x40	//insert the X Gyro data into FIFO
#define MPU6050_FIFO_GYROY_EN       0x20	//insert the Y Gyro data into FIFO
#define MPU6050_FIFO_GYROZ_EN       0x10	//insert the Z Gyro data into FIFO

#define MPU6050_AUX_VDDIO_DIS       0x00	//disable VDD level for the secondary I2C bus clock and data lines

// for MPU6050_REG_CFG
#define MPU6050_EXT_SYNC			0x03	//0x05	//captue the state of external frame sync input pin to insert into LSB of registers
#define MPU6050_SYNC_GYROX			0x02

// for MPU6050_REG_GYRO_CFG
#define MPU6050_FS_RANGE			0x03	//set the full-scale range of the gyro sensors
#define MPU6050_FS_1000				0x02


#define MPU6050_FS_1000_LSB			33
#define MPU6050_FS_MAX_LSB			131

#define MPU6050_RATE_1K_LPFB_188HZ	0x01
#define MPU6050_RATE_1K_LPFB_256HZ	0x00

#define MPU6050_FIFO_EN				0x40	//enable FIFO operation for sensor data

#define MPU6050_FIFO_RST			0x40    //reset FIFO function

#define MPU6050_SLEEP               0x40	//enable low power sleep mode


#define MPU6050_SUCCESS             0
#define MPU6050_ERR_I2C             -1
#define MPU6050_ERR_STATUS          -3
#define MPU6050_ERR_SETUP_FAILURE   -4
#define MPU6050_ERR_GETGSENSORDATA  -5
#define MPU6050_ERR_IDENTIFICATION  -6


#define MPU6050_BUFSIZE 60

// 1 rad = 180/PI degree, MAX_LSB = 131,
// 180*131/PI = 7506
#define DEGREE_TO_RAD	7506

#endif //MPU6050_H