MPU6050.h

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#ifndef __MPU6050_H__
#define __MPU6050_H__
 
#include <atomic>
#include <functional>
 
//#include "Sensor.h"
#include "IIC.h"
#include "CppThread.hpp"
 
#define MPU6050_ADDRESS 0x68
#define GY_271_ADDRESS 0x0D
#define IIC_BUS 1
#define INT_PIN 16  // interrupt pin(BCM)
#define RAD_TO_DEG 57.295779513082320876798154814105   // radium to degree
#define DEG_TO_RAD 0.01745329251994329576923690768489 // degree to radium
#define CALIBRATION_COUNT 5000  
 
extern std::mutex i2cmtx;
 
class MPU6050 {
 
public:
 
    using CallbackFunction = std::function<void(float[], float[], float[])>;
 
    MPU6050();
 
    MPU6050(int customSampleRate, int calibrationTimes);
    
    void getData();
 
    bool checkNewData();
 
    void setCallback(CallbackFunction callback);
 
    static MPU6050* globalInstance;
 
protected:
 
    void MPU6050ReadData(char* data);
 
    void calibrateData();
 
    void GY271ReadData(char* data);
 
    void setRangeOfAcce(bool needToExit);
 
    void setRangeOfGyro(bool needToExit);
 
    friend void interruptHandler(int GPIO, int level, unsigned int tick);
 
private:
 
    CallbackFunction callback_;
 
    IIC iicMPU6050;
    IIC iicGY271;
 
    std::atomic<bool> mpu6050_newdata;
    //std::atomic<bool> mpu6050_reading;
    std::atomic<bool> calibrate_ready;
    bool needToExit;
    int offset_count;
 
    int calibrationCount;
 
    char sampleRate;
 
    std::atomic<float> ax;
    std::atomic<float> ay;
    std::atomic<float> az;
    std::atomic<float> gx;
    std::atomic<float> gy;
    std::atomic<float> gz;
    std::atomic<float> mx;
    std::atomic<float> my;
    std::atomic<float> mz;
 
    // static float ax;
    // static float ay;
    // static float az;
    // static float gx;
    // static float gy;
    // static float gz;
    // static float mx;
    // static float my;
    // static float mz;
    
    char MPU6050RawData[14];
    char GY271RawData[6];
 
    float g_offset[3];
    float a_offset[3];
    float m_offset[3];
};
 
class MPU6050Thread : public CppThread {
 
public:
 
    MPU6050Thread(MPU6050& MPU6050Ins_) : MPU6050Ins(MPU6050Ins_) {};
 
protected:
 
    void run() override;
 
private:
 
    MPU6050& MPU6050Ins;
 
};
 
void interruptHandler(int GPIO, int level, unsigned int tick);
 
void initializeMPUISR();
 
#endif