mpu6050.h

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/*
 * MIT License
 *
 * Copyright (c)  2021 Society of Robotics and Automation
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */
 
#ifndef _MPU6050_H
#define _MPU6050_H
 
#include <stdio.h>
#include <math.h>
#include <string.h>
 
#include "sdkconfig.h"
#include "esp_attr.h"
 
#include "esp_log.h"
#include "esp_err.h"
 
#include "freertos/FreeRTOS.h"
#include "driver/i2c.h"
#include "driver/gpio.h"
#include "esp_timer.h"
 
#include "pin_defs.h"
 
#define I2C_MASTER_SCL_IO MPU6050_SCL 
#define I2C_MASTER_SDA_IO MPU6050_SDA 
#define I2C_MASTER_NUM I2C_NUM_1      
#define I2C_MASTER_TX_BUF_DISABLE 0   
#define I2C_MASTER_RX_BUF_DISABLE 0   
#define I2C_MASTER_FREQ_HZ 100000     
#define MPU6050_RA_PWR_MGMT_1 0x6B
#define MPU6050_CLOCK_PLL_XGYRO 0x01
 
#define MPU6050_RA_GYRO_CONFIG 0x1B
#define MPU6050_GYRO_FS_250 0x00
 
#define MPU6050_RA_ACCEL_CONFIG 0x1C
#define MPU6050_ACCEL_FS_2 0x00
 
#define MPU6050_ADDR 0x68   
#define ACCE_START_ADDR 0x3B 
#define GYRO_START_ADDR 0x43 
#define WRITE_BIT I2C_MASTER_WRITE 
#define READ_BIT I2C_MASTER_READ   
#define ACK_CHECK_EN 0x1           
#define ACK_CHECK_DIS 0x0          
#define ACK_VAL 0x0                
#define NACK_VAL 0x1               
#define ALPHA 0.9834
#define RAD_TO_DEG 57.2957795
#define BUFF_SIZE 6
 
#define MPU_CALIBRATION_AVG_COUNT CONFIG_MPU_CALIBRATION_AVG_COUNT
 
esp_err_t i2c_master_init();
 
esp_err_t enable_mpu6050(void);
 
esp_err_t mpu6050_read_acce(uint8_t *data_rd, size_t size);
 
esp_err_t mpu6050_read_gyro(uint8_t *data_rd, size_t size);
 
void combine_msb_lsb_raw_data(uint8_t *buf_1, int16_t *buf_2);
 
void compute_acce_angle(int16_t ax, int16_t ay, int16_t az, float *acce_angle);
 
void compute_gyro_angle(int16_t gx, int16_t gy, int16_t gz, float dt, float *gyro_angle);
 
esp_err_t read_mpu6050_raw(int16_t *acce_raw_value, int16_t *gyro_raw_value);
 
void complementary_filter(int16_t *acce_raw_value, int16_t *gyro_raw_value, float *complementary_angle, float *mpu_offset);
 
esp_err_t read_mpu6050(float *euler_angle, float *mpu_offset);
 
esp_err_t calibrate_mpu6050();
 
esp_err_t avg_sensors(int16_t *acce_raw_value_avg, int16_t *gyro_raw_value_avg, const int16_t *acce_offs, const int16_t *gyro_offs);
 
#endif