gyroacelemeter_gy521.h

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#ifndef GYROACELEMETER_GY521_H
#define GYROACELEMETER_GY521_H
 
#include <QObject>
#include <QThread>
#include "i2c_device.h"
 
class MPU6050 : public QObject
{
    Q_OBJECT
 
public:
    explicit MPU6050 (uint8_t i2cAddress = 0x68, QObject *parent = nullptr);
    void readAllSensors(float &ax, float &ay, float &az, float &gx, float &gy, float &gz);
    void calibrateGyro();
    void calibrateAccel();
    bool writeByte(uint8_t reg, uint8_t value);
    bool readBytes(uint8_t reg, uint8_t *buffer, size_t length);
 
public slots:
    void readAllMPU6050Reg();
 
private:
    I2C_Device *i2cDevice;
 
    // Calibration offsets
    float gyroOffset[3] = {0, 0, 0};
    float accelOffset[3] = {0, 0, 0};
 
    static constexpr uint8_t PWR_MGMT_1 = 0x6B;
    static constexpr uint8_t ACCEL_XOUT_H = 0x3B;
    static constexpr uint8_t GYRO_XOUT_H = 0x43;
    static constexpr uint8_t INT_ENABLE = 0x38;  // Interrupt Enable Register
    static constexpr uint8_t INT_PIN_CFG = 0x37;  // Interrupt Pin/Bypass Enable Configuration Register
    static constexpr float   ACCEL_FS_SEL_2G = 16384.0;
    static constexpr float   GYRO_FS_SEL_250DEG = 131.0;
 
    bool initializeMPU6050();
    void applyCalibration(float &ax, float &ay, float &az, float &gx, float &gy, float &gz);
};
 
#endif // GYROACELEMETER_GY521_H