Mpu_6050_dmp.h

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#ifndef MPU_6050_DMP_H
#define MPU_6050_DMP_H
 
#include <Arduino.h>
#include <EEPROM.h>
 
#include <Heading_sensor.h>
 
#include "I2Cdev/I2Cdev.h"
 
#include "MPU6050/MPU6050_6Axis_MotionApps612.h"

struct Mpu_6050_cal_vals_t {
    int16_t x_accel_offset;

    int16_t y_accel_offset;

    int16_t z_accel_offset;

    int16_t x_gyro_offset;

    int16_t y_gyro_offset;

    int16_t z_gyro_offset;
};

class Mpu_6050_dmp : public Heading_sensor {
    private:
        uint8_t fifoBuffer [64];

        Quaternion q;

        VectorFloat gravity;

        float ypr[3];

        MPU6050 *mpu;

        uint8_t i2c_address;

        static const uint8_t DEFAULT_I2C_ADDRESS;

        static const uint32_t I2C_FREQ;

        const uint32_t port;

        double prev_yaw;

        double prev_pitch;

        double prev_roll;

        uint16_t re_zero_yaw;

        bool update ();
    
    public:
        Mpu_6050_dmp (const uint32_t init_port);

        ~Mpu_6050_dmp ();

        bool begin (const uint8_t init_i2c_address = DEFAULT_I2C_ADDRESS);
        
        bool begin (const Mpu_6050_cal_vals_t mpu_cal_values, const uint8_t init_i2c_address = DEFAULT_I2C_ADDRESS);

        void end ();

        uint8_t who_am_i ();

        bool is_gyro_present ();

        Mpu_6050_cal_vals_t get_prev_caled_vals ();

        Mpu_6050_cal_vals_t cal (const uint8_t sampling_amount = 20);

        void save_caled_vals ();

        void reset ();

        bool reset_heading ();

        double get_yaw (const bool ask_for_update = true);

        double get_pitch (const bool ask_for_update = true);

        double get_roll (const bool ask_for_update = true);

        uint16_t get_heading ();
 
};
 
#endif // #ifndef MPU_6050_DMP_H