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#ifndef MPU6515_H
#define MPU6515_H
#include <linux/ioctl.h>
#define MPU6515_I2C_SLAVE_ADDR 0xD0 // or 0xD1
/* MPU6515 Register Map (Please refer to MPU6515 Specifications) */
#define MPU6515_REG_DEVID 0x75
#define MPU6515_REG_BW_RATE 0x1D
#define MPU6515_REG_POWER_CTL 0x6B
#define MPU6515_REG_POWER_CTL2 0x6C
#define MPU6515_REG_INT_ENABLE 0x38
#define MPU6515_REG_DATA_FORMAT 0x1C
#define MPU6515_REG_DATAX0 0x3B
#define MPU6515_REG_DATAY0 0x3D
#define MPU6515_REG_DATAZ0 0x3F
#define MPU6515_REG_RESET 0x68
/* register Value */
#define MPU6515_FIXED_DEVID 0x74
// delay(ms)
#define MPU6515_BW_460HZ 0x00 //1.94
#define MPU6515_BW_184HZ 0x01 //5.8
#define MPU6515_BW_92HZ 0x02 //7.8
#define MPU6515_BW_41HZ 0x03 //11.8
#define MPU6515_BW_20HZ 0x04 //19.8
#define MPU6515_BW_10HZ 0x05 //35.7
#define MPU6515_BW_5HZ 0x06 //66.96
#define MPU6515_DEV_RESET 0x80
//#define MPU6515_FULL_RES 0x08
#define MPU6515_RANGE_2G (0x00 << 3)
#define MPU6515_RANGE_4G (0x01 << 3)
#define MPU6515_RANGE_8G (0x02 << 3)
#define MPU6515_RANGE_16G (0x03 << 3)
//#define MPU6515_SELF_TEST 0x80
#define MPU6515_SLEEP 0x40 //enable low power sleep mode
// below do not modify
#define MPU6515_SUCCESS 0
#define MPU6515_ERR_I2C -1
#define MPU6515_ERR_STATUS -3
#define MPU6515_ERR_SETUP_FAILURE -4
#define MPU6515_ERR_GETGSENSORDATA -5
#define MPU6515_ERR_IDENTIFICATION -6
#define MPU6515_BUFSIZE 256
#define MPU6515_AXES_NUM 3
/*----------------------------------------------------------------------------*/
typedef enum{
MPU6515_CUST_ACTION_SET_CUST = 1,
MPU6515_CUST_ACTION_SET_CALI,
MPU6515_CUST_ACTION_RESET_CALI
}CUST_ACTION;
/*----------------------------------------------------------------------------*/
typedef struct
{
uint16_t action;
}MPU6515_CUST;
/*----------------------------------------------------------------------------*/
typedef struct
{
uint16_t action;
uint16_t part;
int32_t data[0];
}MPU6515_SET_CUST;
/*----------------------------------------------------------------------------*/
typedef struct
{
uint16_t action;
int32_t data[MPU6515_AXES_NUM];
}MPU6515_SET_CALI;
/*----------------------------------------------------------------------------*/
typedef MPU6515_CUST MPU6515_RESET_CALI;
/*----------------------------------------------------------------------------*/
typedef union
{
uint32_t data[10];
MPU6515_CUST cust;
MPU6515_SET_CUST setCust;
MPU6515_SET_CALI setCali;
MPU6515_RESET_CALI resetCali;
}MPU6515_CUST_DATA;
/*----------------------------------------------------------------------------*/
#endif
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