#pragma once

// I2c address of MPU6050
#define MPU6050_ADDR 0x68  // With AD0 pin grounded/floating, otherwise 0x69

// MPU-6050 register addresses
#define MPU6050_REG_ACCEL_XOUT_H ((uint8_t *)0x3B)
#define MPU6050_REG_ACCEL_XOUT_L ((uint8_t *)0x3C)
#define MPU6050_REG_GYRO_XOUT_H ((uint8_t *)0x43)
#define MPU6050_REG_GYRO_XOUT_L ((uint8_t *)0x44)
#define MPU6050_TEMP_OUT_H ((uint8_t *)0x41)
#define MPU6050_TEMP_OUT_L ((uint8_t *)0x42)
#define MPU6050_REG_PWR_MGMT_1 ((uint8_t *)0x6B)

#include <avr/io.h>
#include <stdint.h>
#include <util/delay.h>

// Function to initialize MPU-6050
void MPU6050_Init();

// Function to read accelerometer data from MPU-6050
void MPU6050_Read_Accel(int16_t *accel_data);

// Function to read gyroscope data from MPU-6050
void MPU6050_Read_Gyro(int16_t *gyro_data);