184 lines
4.5 KiB
C++
184 lines
4.5 KiB
C++
#ifndef MPU6050_SENSOR_H
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#define MPU6050_SENSOR_H
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#include <driver/i2c_master.h>
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#include <esp_log.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <string>
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// MPU6050相关定义
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#define MPU6050_I2C_ADDRESS 0x68
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#define MPU6050_WHO_AM_I_REG 0x75
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#define MPU6050_WHO_AM_I_VAL 0x68
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// 加速度计量程
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typedef enum {
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ACCE_FS_2G = 0, // ±2g
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ACCE_FS_4G = 1, // ±4g
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ACCE_FS_8G = 2, // ±8g
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ACCE_FS_16G = 3 // ±16g
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} mpu6050_acce_fs_t;
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// 陀螺仪量程
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typedef enum {
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GYRO_FS_250DPS = 0, // ±250°/s
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GYRO_FS_500DPS = 1, // ±500°/s
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GYRO_FS_1000DPS = 2, // ±1000°/s
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GYRO_FS_2000DPS = 3 // ±2000°/s
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} mpu6050_gyro_fs_t;
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// 传感器数据结构
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typedef struct {
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float acce_x;
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float acce_y;
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float acce_z;
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} mpu6050_acce_value_t;
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typedef struct {
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float gyro_x;
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float gyro_y;
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float gyro_z;
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} mpu6050_gyro_value_t;
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typedef struct {
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float temp;
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} mpu6050_temp_value_t;
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typedef struct {
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float pitch;
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float roll;
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float yaw;
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} complimentary_angle_t;
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/**
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* @brief MPU6050传感器封装类
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*
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* 提供现代化的C++接口来操作MPU6050六轴传感器
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* 支持加速度计、陀螺仪、温度传感器和互补滤波
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*/
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class Mpu6050Sensor {
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public:
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/**
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* @brief 构造函数
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* @param i2c_bus I2C总线句柄
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* @param device_addr 设备地址，默认为0x68
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*/
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explicit Mpu6050Sensor(i2c_master_bus_handle_t i2c_bus, uint8_t device_addr = MPU6050_I2C_ADDRESS);
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/**
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* @brief 析构函数
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*/
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~Mpu6050Sensor();
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/**
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* @brief 初始化传感器
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* @param acce_fs 加速度计量程
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* @param gyro_fs 陀螺仪量程
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* @return true表示初始化成功，false表示失败
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*/
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bool Initialize(mpu6050_acce_fs_t acce_fs = ACCE_FS_4G, mpu6050_gyro_fs_t gyro_fs = GYRO_FS_500DPS);
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/**
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* @brief 唤醒传感器
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* @return true表示成功，false表示失败
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*/
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bool WakeUp();
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/**
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* @brief 获取设备ID
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* @param device_id 输出设备ID
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* @return true表示成功，false表示失败
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*/
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bool GetDeviceId(uint8_t* device_id);
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/**
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* @brief 获取加速度计数据
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* @param acce 输出加速度计数据
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* @return true表示成功，false表示失败
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*/
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bool GetAccelerometer(mpu6050_acce_value_t* acce);
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/**
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* @brief 获取陀螺仪数据
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* @param gyro 输出陀螺仪数据
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* @return true表示成功，false表示失败
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*/
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bool GetGyroscope(mpu6050_gyro_value_t* gyro);
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/**
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* @brief 获取温度数据
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* @param temp 输出温度数据
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* @return true表示成功，false表示失败
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*/
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bool GetTemperature(mpu6050_temp_value_t* temp);
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/**
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* @brief 互补滤波计算姿态角
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* @param acce 加速度计数据
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* @param gyro 陀螺仪数据
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* @param angle 输出姿态角
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* @return true表示成功，false表示失败
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*/
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bool ComplimentaryFilter(const mpu6050_acce_value_t* acce,
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const mpu6050_gyro_value_t* gyro,
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complimentary_angle_t* angle);
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/**
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* @brief 检查传感器是否已初始化
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* @return true表示已初始化，false表示未初始化
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*/
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bool IsInitialized() const { return initialized_; }
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/**
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* @brief 获取传感器状态信息
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* @return JSON格式的状态信息
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*/
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std::string GetStatusJson() const;
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private:
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i2c_master_bus_handle_t i2c_bus_;
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i2c_master_dev_handle_t device_handle_;
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uint8_t device_addr_;
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bool initialized_;
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mpu6050_acce_fs_t acce_fs_;
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mpu6050_gyro_fs_t gyro_fs_;
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// 互补滤波相关
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float dt_;
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float alpha_;
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complimentary_angle_t last_angle_;
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uint64_t last_time_;
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static const char* TAG;
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/**
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* @brief 写入寄存器
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* @param reg_addr 寄存器地址
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* @param data 数据
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* @return true表示成功，false表示失败
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*/
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bool WriteRegister(uint8_t reg_addr, uint8_t data);
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/**
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* @brief 读取寄存器
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* @param reg_addr 寄存器地址
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* @param data 输出数据
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* @param len 数据长度
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* @return true表示成功，false表示失败
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*/
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bool ReadRegister(uint8_t reg_addr, uint8_t* data, size_t len);
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/**
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* @brief 获取当前时间戳（微秒）
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* @return 时间戳
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*/
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uint64_t GetCurrentTimeUs();
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/**
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* @brief 初始化互补滤波
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*/
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void InitializeComplimentaryFilter();
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};
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#endif // MPU6050_SENSOR_H
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