mpu.h

// MPU6050 class
#ifndef MPU_H
#define MPU_H
 
#include "Arduino.h"
#include <Wire.h>
#include <math.h>
#include "defs.h"
 
 
// divisor factors based on full scale ranges
#define ACCEL_FACTOR_2G       16384      
#define ACCEL_FACTOR_4G       8192    
#define ACCEL_FACTOR_8G       4096
#define ACCEL_FACTOR_16G      2048
#define GYRO_FACTOR_250       131
#define GYRO_FACTOR_500       65.5
#define GYRO_FACTOR_1000      32.8
#define GYRO_FACTOR_2000      16.4
 
// MPU6050 addresses definitions 
#define MPU6050_ADDRESS         0x68
#define GYRO_CONFIG             0x1B
#define ACCEL_CONFIG            0x1C
#define PWR_MNGMT_1             0x6B
#define RESET                   0x00
#define SET_GYRO_FS_250         0x00
#define SET_GYRO_FS_500         0x01
#define SET_GYRO_FS_1000        0x02
#define SET_GYRO_FS_2000        0x18
#define SET_ACCEL_FS_2G         0x00
#define SET_ACCEL_FS_4G         0x01
#define SET_ACCEL_FS_8G         0x02
#define SET_ACCEL_FS_16G        0x18
#define ACCEL_XOUT_H            0x3B
#define ACCEL_XOUT_L            0x3C
#define ACCEL_YOUT_H            0x3D
#define ACCEL_YOUT_L            0x3E
#define ACCEL_ZOUT_H            0x3F
#define ACCEL_ZOUT_L            0x40
#define GYRO_XOUT_H             0x43
#define GYRO_XOUT_L             0x44
#define GYRO_YOUT_H             0x45
#define GYRO_YOUT_L             0x46
#define GYRO_ZOUT_H             0x47
#define GYRO_ZOUT_L             0x48
#define TEMP_OUT_H              0x41
#define TEMP_OUT_L              0x42
#define ONE_G                   9.80665
#define TO_DEG_FACTOR           57.32
 
class MPU6050 {
    private:
        uint8_t _address;
        uint32_t _accel_fs_range;
        uint32_t _gyro_fs_range;
 
    public:
        // sensor data
        int16_t acc_x, acc_y, acc_z; // raw acceleration values
        float acc_x_real, acc_y_real, acc_z_real; // converted acceleration values
        int16_t ang_vel_x, ang_vel_y, ang_vel_z;
        float ang_vel_x_real, ang_vel_y_real, ang_vel_z_real; // converted angular velocity values
        int16_t temp;
        float temp_real;
 
        float pitch_angle, roll_angle;
        float acc_x_ms, acc_y_ms, acc_z_ms; // acceleration in m/s^2
 
 
        MPU6050(uint8_t address, uint32_t accel_fs_range, uint32_t gyro_fs_range);
        void init();
        float readXAcceleration();
        float readYAcceleration();
        float readZAcceleration();
        float readXAngularVelocity();
        float readYAngularVelocity();
        float readZAngularVelocity();
        float readTemperature();
        void filterImu();
        float getRoll();
        float getPitch();
 
};
 
#endif