Relocate some of the common MPU code from MPU6050 into accgyro_mpu.c.

src/main/drivers/accgyro_mpu.h

@@ -0,0 +1,75 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+
+enum lpf_e {
+    INV_FILTER_256HZ_NOLPF2 = 0,
+    INV_FILTER_188HZ,
+    INV_FILTER_98HZ,
+    INV_FILTER_42HZ,
+    INV_FILTER_20HZ,
+    INV_FILTER_10HZ,
+    INV_FILTER_5HZ,
+    INV_FILTER_2100HZ_NOLPF,
+    NUM_FILTER
+};
+enum gyro_fsr_e {
+    INV_FSR_250DPS = 0,
+    INV_FSR_500DPS,
+    INV_FSR_1000DPS,
+    INV_FSR_2000DPS,
+    NUM_GYRO_FSR
+};
+enum clock_sel_e {
+    INV_CLK_INTERNAL = 0,
+    INV_CLK_PLL,
+    NUM_CLK
+};
+enum accel_fsr_e {
+    INV_FSR_2G = 0,
+    INV_FSR_4G,
+    INV_FSR_8G,
+    INV_FSR_16G,
+    NUM_ACCEL_FSR
+};
+
+typedef enum {
+    MPU_NONE,
+    MPU_3050,
+    MPU_60x0,
+    MPU_65xx_I2C,
+    MPU_65xx_SPI
+} detectedMPUSensor_e;
+
+typedef enum {
+    MPU_HALF_RESOLUTION,
+    MPU_FULL_RESOLUTION
+} mpu6050Resolution_e;
+
+typedef struct mpuDetectionResult_s {
+    detectedMPUSensor_e sensor;
+    mpu6050Resolution_e resolution;
+} mpuDetectionResult_t;
+
+void configureMPULPF(uint16_t lpf);
+void configureMPUDataReadyInterruptHandling(void);
+void mpuIntExtiInit(void);
+bool mpuAccRead(int16_t *accData);
+bool mpuGyroRead(int16_t *gyroADC);
+mpuDetectionResult_t *detectMpu(const extiConfig_t *configToUse);