58 lines
1.4 KiB
C++
58 lines
1.4 KiB
C++
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/*
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* mpu6050.h
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*
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* Created on: 08.01.2021
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* Author: frank
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*/
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#ifndef MPU6050_HPP_
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#define MPU6050_HPP_
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#include <Arduino.h>
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#include <Wire.h>
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//#define GYRO_CONST_250HZ_131 0.000030534 // = 1 / (250Hz x 131)
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//#define GYRO_CONST_500HZ_65_5 0.000030534
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#define GYRO_CONST_250_DPS 0.0076336
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#define GYRO_CONST_500_DPS 0.015267
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#define GYRO_CONST GYRO_CONST_250_DPS
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#define ACCELEROMETER_CONST_2G 0.000061035
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#define ACCELEROMETER_CONST_4G 0.00012207
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#define ACCELEROMETER_CONST_8G 0.00024414
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#define ACCELEROMETER_CONST ACCELEROMETER_CONST_8G
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struct vector{
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long x;
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long y;
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long z;
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};
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struct vector_double_precision {
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double x;
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double y;
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double z;
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};
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struct measurement {
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int temperature;
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vector acceleration;
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vector gyroscope;
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};
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struct measurement_double_precission {
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double temperature;
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vector_double_precision acceleration;
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vector_double_precision gyroscope;
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};
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void calculate_mpu_offsets_as_average();
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measurement get_mpu_offset();
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void read_mpu_6050_data(measurement &measurement);
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void read_mpu_6050_data_with_offset_substraction(measurement &measurement);
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void setup_mpu_6050_registers();
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void substract_gyroscope_offset(measurement &measurement);
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void substract_accelerometer_offset(measurement &measurement);
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void mpu_measurement_with_precission(measurement_double_precission &measurement_dp, const measurement measurement);
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#endif /* MPU6050_HPP_ */
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