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src/gyro.hpp

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+/*
+MIT License
+
+Copyright (c) 2021-22 Magnus
+
+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 SRC_GYRO_HPP_
+#define SRC_GYRO_HPP_
+
+#define I2CDEV_IMPLEMENTATION I2CDEV_ARDUINO_WIRE
+// #define I2CDEV_IMPLEMENTATION I2CDEV_BUILTIN_SBWIRE
+
+// Includes
+#include <Arduino.h>
+#include <MPU6050.h>
+
+#include <config.hpp>
+
+// Classes
+struct RawGyroDataL {  // Used for average multiple readings
+  int32_t ax;          // Raw Acceleration
+  int32_t ay;
+  int32_t az;
+
+  int32_t gx;  // Raw Position
+  int32_t gy;
+  int32_t gz;
+
+  int32_t temp;  // Only for information (temperature of chip)
+};
+
+#define INVALID_TEMPERATURE -273
+
+class GyroSensor {
+ private:
+  MPU6050 accelgyro;
+  bool sensorConnected = false;
+  bool validValue = false;
+  float angle = 0;
+  float sensorTemp = 0;
+  float initialSensorTemp = INVALID_TEMPERATURE;
+  RawGyroData calibrationOffset;
+  RawGyroData lastGyroData;
+
+  void debug();
+  void applyCalibration();
+  void dumpCalibration();
+  void readSensor(RawGyroData &raw, const int noIterations = 100,
+                  const int delayTime = 1);
+  bool isSensorMoving(RawGyroData &raw);
+  float calculateAngle(RawGyroData &raw);
+
+ public:
+  bool setup();
+  bool read();
+  void calibrateSensor();
+
+  const RawGyroData &getLastGyroData() { return lastGyroData; }
+  float getAngle() { return angle; }
+  float getSensorTempC() { return sensorTemp; }
+  float getInitialSensorTempC() { return initialSensorTemp; }
+  bool isConnected() { return sensorConnected; }
+  bool hasValue() { return validValue; }
+  void enterSleep();
+};
+
+// Global instance created
+extern GyroSensor myGyro;
+
+#endif  // SRC_GYRO_HPP_
+
+// EOF