#ifndef MPU9150_H

#define MPU9150_H

#define MPU9150ADDR 0x69

uint16_t getGyroSample(uint16_t, uint8_t *);

void MPU9150Mode(int8_t);

uint16_t getGyroSample(uint16_t index, uint8_t *array){

startI2C(MPU9150ADDR, WRITE);

writeI2C(0x43);

stopI2C();

startI2C(MPU9150ADDR, READ);

for(uint8_t k=0; k<6; k++){

if(index > 54-1) break;

uint8_t ackType = (k < (6-1))? ACK : NACK ;

array[index++] = readI2C(ackType);

}

stopI2C();

return index;

}

void MPU9150Mode(int8_t mode){

if(mode == SLEEP){ // || mode == ARMED){

startI2C(MPU9150ADDR, WRITE);

writeI2C(0x6B); // PWR_MGMT_1

writeI2C(1<<6); // SLEEP bit set

stopI2C();

}

else{ //if(mode == ACTIVE){

startI2C(MPU9150ADDR, WRITE);

writeI2C(0x6B); // PWR_MGMT_1

writeI2C(0x03); // Z-Axis Gyro Reference

stopI2C();

_delay_ms(1);

startI2C(MPU9150ADDR, WRITE);

writeI2C(0x19); // SMPRT_DIV

writeI2C(0x00); // SMPRT_DIV

writeI2C(0x00); // CONFIG

writeI2C(3<<3); // GYRO_CONFIG

writeI2C((3<<3)|(0)); // ACCEL_CONFIG

stopI2C();

}

}

#endif