From ac91897e2a0c3f99244ee01ade0516ac1e8e615b Mon Sep 17 00:00:00 2001
From: Daniel Proano <179722984+DanielProano@users.noreply.github.com>
Date: Thu, 30 Jul 2026 23:32:49 -0400
Subject: [PATCH] mpu init

---
 src/drivers/include/mpu.h | 76 +++++++++++++++++++++++++++++++++++++++
 src/drivers/src/mpu.c     | 26 ++++++++++++++
 2 files changed, 102 insertions(+)

diff --git a/src/drivers/include/mpu.h b/src/drivers/include/mpu.h
index e69de29..8f2a923 100644
--- a/src/drivers/include/mpu.h
+++ b/src/drivers/include/mpu.h
@@ -0,0 +1,76 @@
+#ifndef MPU_H
+#define MPU_H
+
+#include "stdbool.h"
+#include "stdint.h"
+
+typedef struct {
+    uint8_t shtp_lsb;
+    uint8_t shtp_msb;
+    uint8_t shtp_channel;
+    uint8_t shtp_sequence_number;
+    uint8_t feature_report_id;
+    uint8_t report_id;
+    uint8_t interval_msb;
+    uint8_t interval_byte_5;
+    uint8_t interval_byte_4;
+    uint8_t interval_byte_3;
+    uint8_t interval_byte_2;
+    uint8_t interval_lsb;
+    uint8_t reserved_1;
+    uint8_t reserved_2;
+    uint8_t reserved_3;
+    uint8_t reserved_4;
+    uint8_t reserved_5;
+    uint8_t reserved_6;
+    uint8_t reserved_7;
+    uint8_t reserved_8;
+    uint8_t reserved_9;
+    uint8_t reserved_10;
+} set_feature_report;
+
+typedef struct {
+    uint8_t report_id;
+    uint8_t delta_lsb;
+    uint8_t delta_byte1;
+    uint8_t delta_byte2;
+    uint8_t delta_msb;
+} timebase_reference_report;
+
+typedef struct {
+    uint8_t report_id;
+    uint8_t sequence_number;
+    uint8_t status;
+    uint8_t delay;
+} sensor_report;
+
+typedef struct {
+    uint8_t axis_x_lsb;
+    uint8_t axis_x_msb;
+    uint8_t axis_y_lsb;
+    uint8_t axis_y_msb;
+    uint8_t axis_z_lsb;
+    uint8_t axis_z_msb;
+} accelerometer_input_report;
+
+typedef struct {
+    uint8_t quaternion_i_lsb;
+    uint8_t quaternion_i_msb;
+    uint8_t quaternion_j_lsb;
+    uint8_t quaternion_j_msb;
+    uint8_t quaternion_k_lsb;
+    uint8_t quaternion_k_msb;
+    uint8_t quaternion_real_lsb;
+    uint8_t quaternion_real_msb;
+    uint8_t quaternion_accuracy_lsb;
+    uint8_t quanternion_accuracy_msb;
+} rotation_vector_report;
+
+void mpu_init(void);
+void mpu_poll(void);
+bool mpu_get_quaternion(float *w, float *x, float *y, float *z);
+bool mpu_get_gyro(float *x, float *y, float *z);
+bool mpu_get_acceleration(float *x, float *y, float *z);
+bool mpu_get_magnitude(float *x, float *y, float *z);
+
+#endif
\ No newline at end of file
diff --git a/src/drivers/src/mpu.c b/src/drivers/src/mpu.c
index e69de29..2653a8d 100644
--- a/src/drivers/src/mpu.c
+++ b/src/drivers/src/mpu.c
@@ -0,0 +1,26 @@
+#include "mpu.h"
+
+
+void mpu_init(void) {
+
+}
+
+void mpu_poll(void) {
+
+}
+
+bool mpu_get_quaternion(float *w, float *x, float *y, float *z) {
+    return true;
+}
+
+bool mpu_get_gyro(float *x, float *y, float *z) {
+    return true;
+}
+
+bool mpu_get_acceleration(float *x, float *y, float *z) {
+    return true;
+}
+
+bool mpu_get_magnitude(float *x, float *y, float *z) {
+    return true;
+}