Tested, renamed main() for library use

Tested cpp code works to read mpu. main() renamed test() so I can call it in other code.

Author: NirajPatelRobots

i2c/mpu6050_i2c/mpu6050.cpp

@@ -1,11 +1,7 @@
 #include "mpu6050.hpp"
-#include "mpu6050_i2c.h"
-#include "pico/stdlib.h"
 #include "pico/binary_info.h"
 #include "hardware/i2c.h"
-
-static MPU6050_Scale MPU6050::accel_scale;
-static MPU6050_Scale MPU6050::gyro_scale;
+#include "mpu6050_i2c.h"
 
 /*MPU6050::MPU6050() :  //TODO: is there a good way to do this
 chip_temp(*temp) {
@@ -17,8 +13,8 @@ chip_temp(*temp) {
 
 MPU6050::MPU6050(float *accel_out, float *gyro_out) :
  accel(accel_out),  gyro(gyro_out), chip_temp(temp) {
-    accel_scale = MPU_FS_0;
-    gyro_scale = MPU_FS_0;
+    accel_scale = 0;
+    gyro_scale = 0;
     //I2C init
     i2c_init(i2c_default, 400 * 1000); // Max bus speed 400 kHz
     gpio_set_function(PICO_DEFAULT_I2C_SDA_PIN, GPIO_FUNC_I2C);
@@ -27,25 +23,25 @@ MPU6050::MPU6050(float *accel_out, float *gyro_out) :
     gpio_pull_up(PICO_DEFAULT_I2C_SCL_PIN);
 }
 
-MPU6050::power(uint8_t CLKSEL, bool temp_disable, bool sleep, bool cycle) {
+void MPU6050::power(uint8_t CLKSEL, bool temp_disable, bool sleep, bool cycle) {
     mpu6050_power(CLKSEL, temp_disable, sleep, cycle);
 }
 
-MPU6050::reset(void) {
+void MPU6050::reset(void) {
     mpu6050_reset();
 }
 
-MPU6050::setscale_accel(uint8_t scale_num) {
-    accel_scale = (MPU6050_Scale)(scale_num & 3);
-    mpu6050_setscale_accel(accel_scale);
+void MPU6050::setscale_accel(uint8_t scale_num) {
+    accel_scale = scale_num & 3;
+    mpu6050_setscale_accel((MPU6050_Scale)accel_scale);
 }
 
-MPU6050::setscale_gyro(uint8_t scale_num) {
-    gyro_scale = (MPU6050_Scale)(scale_num & 3);
-    mpu6050_setscale_gyro(gyro_scale);
+void MPU6050::setscale_gyro(uint8_t scale_num) {
+    gyro_scale = scale_num & 3;
+    mpu6050_setscale_gyro((MPU6050_Scale)gyro_scale);
 }
 
-MPU6050::read(void) {
-    mpu6050_read(accel, gyro, &temp, accel_scale, gyro_scale);
+void MPU6050::read(void) {
+    mpu6050_read(accel, gyro, &temp, (MPU6050_Scale)accel_scale, (MPU6050_Scale)gyro_scale);
 }
 

i2c/mpu6050_i2c/mpu6050.hpp

@@ -1,15 +1,18 @@
 /* class for using an MPU6050 IMU sensor on pi pico.
 An abstraction of pico example C code. */
+#include "pico/stdlib.h"
 
 class MPU6050 {
     float *accel, *gyro, temp;
+    uint8_t accel_scale, gyro_scale;
 public:
-    const float &accel[3], &gyro[3], &chip_temp; // [m/s^2], [rad/s], [C]
+    //const float *accel, *gyro, &chip_temp; // [m/s^2], [rad/s], [C]
+    const float &chip_temp;
     MPU6050(void);
     MPU6050(float *accel_out, float *gyro_out);
     void power(uint8_t CLKSEL, bool temp_disable, bool sleep, bool cycle);
     void reset(void);
     void setscale_accel(uint8_t scale_num); //scale 0-3 is 2g, 4g, 8g, or 16g
     void setscale_gyro(uint8_t scale_num); // scale 0-3 is 250, 500, 1000, or 2000 deg/s
     void read(void);
-}
+};

i2c/mpu6050_i2c/mpu6050_i2c.c

@@ -10,6 +10,7 @@
 #include "pico/stdlib.h"
 #include "pico/binary_info.h"
 #include "hardware/i2c.h"
+#include "mpu6050_i2c.h"
 
 /* Example code to talk to a MPU6050 MEMS accelerometer and gyroscope
 
@@ -34,7 +35,6 @@ static uint8_t bus_addr = 0x68;
 // Register addresses in the MPU6050 to read and write data to
 const uint8_t REG_PWR_MGMT_1 = 0x6B, REG_ACCEL_OUT = 0x3B, REG_GYRO_OUT = 0x43, REG_TEMP_OUT = 0x41,
              REG_SIGNAL_PATH_RESET = 0x68, REG_GYRO_CONFIG = 0x1B, REG_ACCEL_CONFIG = 0x1C;
-typedef enum MPU6050_Scale {MPU_FS_0, MPU_FS_1, MPU_FS_2, MPU_FS_3} MPU6050_Scale;
 
 const float gyro_scale_deg[] = {250. / 0x7fff, 500. / 0x7fff, 1000. / 0x7fff, 2000. / 0x7fff};
 const float gyro_scale_rad[] = {M_PI / 180. * 250. / 0x7fff, M_PI / 180. * 500. / 0x7fff,
@@ -107,7 +107,7 @@ void mpu6050_read(float accel[3], float gyro_rad[3], float *temp, MPU6050_Scale
     mpu6050_readreg16(REG_ACCEL_OUT, buffer, 7); //reads all at same time
     mpu6050_scale_accel(accel, buffer, accel_scale);
     if (temp) *temp = mpu6050_scale_temp(buffer[3]);
-    mpu6050_scale_gyro_rad(gyro, buffer + 4, gyro_scale);
+    mpu6050_scale_gyro_rad(gyro_rad, buffer + 4, gyro_scale);
 }
 
 // set and use sensitivity
@@ -141,7 +141,7 @@ float mpu6050_scale_temp(float temp_raw) {
 //TODO: read self test
 
 //TODO: functional mpu test
-int main() {
+int test() {
     stdio_init_all();
 #if !defined(i2c_default) || !defined(PICO_DEFAULT_I2C_SDA_PIN) || !defined(PICO_DEFAULT_I2C_SCL_PIN)
     #warning i2c/mpu6050_i2c example requires a board with I2C pins

i2c/mpu6050_i2c/mpu6050_i2c.h

@@ -1,16 +1,18 @@
 /* header for accessing mpu6050 functions in pico-examples
 
 Niraj Patel March 2022 */
+#ifdef __cplusplus
+extern "C" {
+#endif
 
 #include "pico/stdlib.h"
-#include "pico/binary_info.h"
 
 typedef enum MPU6050_Scale {MPU_FS_0, MPU_FS_1, MPU_FS_2, MPU_FS_3} MPU6050_Scale;
 
 // lower level functions for i2c
 void mpu6050_writereg(uint8_t reg, uint8_t value); //write one byte to a register
 void mpu6050_readreg(uint8_t reg, uint8_t *out, size_t length);
-void mpu6050_readreg16(uint8_t reg, uint16_t *out, size_t length);
+void mpu6050_readreg16(uint8_t reg, int16_t *out, size_t length);
 void mpu6050_setbusaddr(uint8_t addr); //set the i2c bus address for communication. MPU6050 must already have this value.
 
 // higher level mpu6050 functions
@@ -29,3 +31,7 @@ float mpu6050_scale_temp(float temp_raw);
 void mpu6050_read_raw(int16_t accel[3], int16_t gyro[3], int16_t *temp); //read raw data values. Could read different timesteps.
 void mpu6050_read(float accel[3], float gyro[3], float *temp,
                   MPU6050_Scale accel_scale, MPU6050_Scale gyro_scale); //reads all at same timestep, converts. temp can be NULL.
+
+#ifdef __cplusplus
+}
+#endif