mpu6050.h

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#pragma once
 
#include "pico/stdlib.h"
#include "hw/i2c/hw_i2c.h"
#include "config_MPU6050.h"

struct struct_ConfigMPU6050
{
    uint8_t MPU_ADDR = 0x68;
    uint16_t SAMPLE_RATE = 100;
    uint8_t DLPF_BW = 50;
    uint8_t EXT_SYNC = EXT_SYNC_SET_DISABLED;
    uint16_t GYRO_OUT_RATE = 1000;
    uint16_t GYRO_FULL_SCALE_RANGE = 250;
    uint8_t ACCEL_FULL_SCALE_RANGE = 2;
    uint8_t FIFO_SELECTED_SENSORS = GYRO_FIFO_EN | ACCEL_FIFO_EN;
    uint8_t INT_PIN_CFG = INT_LEVEL | LATCH_INT_EN | INT_RD_CLEAR;
    uint8_t INT_ENABLE = DATA_RDY_EN;
    uint8_t SIGNAL_PATH_RESET = NO_PATH_RESET;
    uint8_t FIFO_OP = FIFO_EN;
    uint8_t PWR_MGMT_1 = CLKSEL_Z_PLL;
};

struct struct_RawData
{
    int16_t g_x;
    int16_t g_y;
    int16_t g_z;
    int16_t temp_out;
    int16_t gyro_x;
    int16_t gyro_y;
    int16_t gyro_z;
};

struct struct_MPUData
{
    float g_x;
    float g_y;
    float g_z;
    float temp_out;
    float gyro_x;
    float gyro_y;
    float gyro_z;
};

class MPU6050
{
private:
    HW_I2C_Master *master;
    struct_ConfigMPU6050 device_config;
    float acceleration_factor{};
    float gyro_factor{};
    float temperature_gain = 1.0 / 340.0;
    float temperature_offset = 36.53;
    float accel_x_offset{};
    float accel_y_offset{};
    float accel_z_offset{};
    float gyro_x_offset{};
    float gyro_y_offset{};
    float gyro_z_offset{};

    void init_mpu();
    struct_I2CXferResult read_registers_all_raw_data();
    void calibrate();
    void convert_raw_to_measure();
    void read_FIFO_g_accel_raw_data();
    void read_FIFO_accel_raw_data();
 
public:
    MPU6050(HW_I2C_Master *master, struct_ConfigMPU6050 default_config);
    uint16_t get_FIFO_count();
    struct_MPUData data;
    struct_RawData raw;
    float get_MPU_temperature();
    bool is_data_ready();
    struct_I2CXferResult get_measures();
    void read_FIFO_all_raw_data();
};