unit_mpu6500.hpp

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/*
 * SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
 *
 * SPDX-License-Identifier: MIT
 */
#ifndef M5_UNIT_IMU_UNIT_UNIT_MPU6500_HPP
#define M5_UNIT_IMU_UNIT_UNIT_MPU6500_HPP
 
#include "unit_mpu6xxx.hpp"
 
namespace m5 {
namespace unit {
 
class UnitMPU6500 : public UnitMPU6xxx {
    M5_UNIT_COMPONENT_HPP_BUILDER(UnitMPU6500, 0x68);
 
public:
    explicit UnitMPU6500(const uint8_t addr = DEFAULT_ADDRESS) : UnitMPU6xxx(addr)
    {
    }
 
protected:
    // 0x70 = standalone MPU-6500; 0x71 = the MPU-6500-class accel/gyro die inside an MPU-9250.
    inline bool accepts_whoami(const uint8_t id) const override
    {
        return id == 0x70 || id == 0x71;
    }
    inline float temperature_res() const override
    {
        return 1.0f / 333.87f;
    }
    inline float temperature_offset() const override
    {
        return 21.0f;
    }
};
 
}  // namespace unit
}  // namespace m5
#endif