split mpu6050 lib (c and c++) from demo main, refactor mostly comments

the code that's been running with simplewalker. Also add self-test even though idk what it does.

Author: NirajPatelRobots

i2c/mpu6050_i2c/CMakeLists.txt

@@ -1,12 +1,21 @@
-add_executable(mpu6050_i2c
-        mpu6050_i2c.c
-        )
-
-# pull in common dependencies and additional i2c hardware support
-target_link_libraries(mpu6050_i2c pico_stdlib hardware_i2c)
-
-# create map/bin/hex file etc.
-pico_add_extra_outputs(mpu6050_i2c)
-
-# add url via pico_set_program_url
-example_auto_set_url(mpu6050_i2c)
+add_library(MPU6050_i2c_pico_lib mpu6050_i2c.c)
+target_include_directories(MPU6050_i2c_pico_lib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+# pull in common dependencies and additional i2c hardware support
+target_link_libraries(MPU6050_i2c_pico_lib pico_stdlib hardware_i2c)
+
+add_library(MPU6050_i2c_pico_cpp_lib mpu6050.cpp mpu6050_i2c.c)
+target_include_directories(MPU6050_i2c_pico_cpp_lib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_link_libraries(MPU6050_i2c_pico_cpp_lib pico_stdlib hardware_i2c)
+
+
+add_executable(mpu6050_i2c mpu6050_i2c_main.c)
+target_link_libraries(mpu6050_i2c MPU6050_i2c_pico_lib)
+
+# create map/bin/hex file etc.
+pico_add_extra_outputs(mpu6050_i2c)
+# enable usb output, disable uart output
+pico_enable_stdio_usb(mpu6050_i2c 1)
+pico_enable_stdio_uart(mpu6050_i2c 0)
+
+# add url via pico_set_program_url
+example_auto_set_url(mpu6050_i2c)

i2c/mpu6050_i2c/mpu6050.cpp

@@ -1,47 +1,42 @@
-#include "mpu6050.hpp"
-#include "pico/binary_info.h"
-#include "hardware/i2c.h"
-#include "mpu6050_i2c.h"
-
-/*MPU6050::MPU6050() :  //TODO: is there a good way to do this
-chip_temp(*temp) {
-    accel = {0., 0., 0.};
-    gyro = {0., 0., 0.};
-    temp = {};
-    MPU6050(accel, gyro, temp);
-} */
-
-MPU6050::MPU6050(float *accel_out, float *gyro_out) :
- accel(accel_out),  gyro(gyro_out), chip_temp(temp) {
-    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);
-    gpio_set_function(PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C);
-    gpio_pull_up(PICO_DEFAULT_I2C_SDA_PIN);
-    gpio_pull_up(PICO_DEFAULT_I2C_SCL_PIN);
-}
-
-void MPU6050::power(uint8_t CLKSEL, bool temp_disable, bool sleep, bool cycle) {
-    mpu6050_power(CLKSEL, temp_disable, sleep, cycle);
-}
-
-void MPU6050::reset(void) {
-    mpu6050_reset();
-}
-
-void MPU6050::setscale_accel(uint8_t scale_num) {
-    accel_scale = scale_num & 3;
-    mpu6050_setscale_accel((MPU6050_Scale)accel_scale);
-}
-
-void MPU6050::setscale_gyro(uint8_t scale_num) {
-    gyro_scale = scale_num & 3;
-    mpu6050_setscale_gyro((MPU6050_Scale)gyro_scale);
-}
-
-void MPU6050::read(void) {
-    mpu6050_read(accel, gyro, &temp, (MPU6050_Scale)accel_scale, (MPU6050_Scale)gyro_scale);
-}
+#include "mpu6050.hpp"
+#include "pico/binary_info.h"
+#include "hardware/i2c.h"
+#include "mpu6050_i2c.h"
+
+/*MPU6050::MPU6050() :  //TODO: smart pointers
+chip_temp(*temp) {
+    accel = {0., 0., 0.};
+    gyro = {0., 0., 0.};
+    temp = {};
+    MPU6050(accel, gyro, temp);
+} */
+
+MPU6050::MPU6050(float *accel_out, float *gyro_out) :
+ accel(accel_out),  gyro(gyro_out), chip_temp(temp) {
+    accel_scale = 0;
+    gyro_scale = 0;
+    setup_MPU6050_i2c();
+}
+
+void MPU6050::power(uint8_t CLKSEL, bool temp_disable, bool sleep, bool cycle) {
+    mpu6050_power(CLKSEL, temp_disable, sleep, cycle);
+}
+
+void MPU6050::reset(void) {
+    mpu6050_reset();
+}
+
+void MPU6050::setscale_accel(uint8_t scale_num) {
+    accel_scale = scale_num & 3;
+    mpu6050_setscale_accel((MPU6050_Scale)accel_scale);
+}
+
+void MPU6050::setscale_gyro(uint8_t scale_num) {
+    gyro_scale = scale_num & 3;
+    mpu6050_setscale_gyro((MPU6050_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

@@ -1,18 +1,25 @@
-/* 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, *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);
-};
+/* class for using an MPU6050 IMU sensor on pi pico.
+An abstraction of pico example C code. 
+TODO:
+    smart ptrs for results
+    C++ scale enums
+    mpu6050_t struct in C code for storing scales and bus addr
+ */
+#include "pico/stdlib.h"
+
+class MPU6050 {
+    float *accel, *gyro, temp;
+    uint8_t accel_scale, gyro_scale;
+public:
+    const float &chip_temp; // [C]
+
+    MPU6050(); //TODO
+    MPU6050(float *accel_out, float *gyro_out); // [m/s^2], [rad/s]
+
+    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);
+};