Rune Harlyk
56 lines
1.1 KiB
C++
56 lines
1.1 KiB
C++
#pragma once
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#include <MPU6050_light.h>
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#define IMU_INTERVAL 2000
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class IMUService
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{
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public:
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IMUService():_imu(Wire){};
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void begin()
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{
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byte status = _imu.begin();
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if(status != 0) {
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ESP_LOGE("IMUService", "MPU initialize failed");
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vTaskDelete(NULL);
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return;
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}
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xTaskCreatePinnedToCore(this->_loopImpl, "IMU Service", 4096, this, tskIDLE_PRIORITY, NULL, ESP32SVELTEKIT_RUNNING_CORE);
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};
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float getTemp() {
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return _imu.getTemp();
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}
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float getAngleX() {
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return _imu.getAngleX();
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}
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float getAngleY() {
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return _imu.getAngleX();
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}
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float getAngleZ() {
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return _imu.getAngleZ();
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}
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protected:
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static void _loopImpl(void *_this) { static_cast<IMUService *>(_this)->_loop(); }
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void _loop()
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{
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vTaskDelay(100);
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_imu.calcOffsets(true,true);
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TickType_t xLastWakeTime = xTaskGetTickCount();
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while (1)
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{
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_imu.update();
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vTaskDelayUntil(&xLastWakeTime, IMU_INTERVAL / portTICK_PERIOD_MS);
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}
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};
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private:
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MPU6050 _imu;
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};
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