forked from logzhan/RobotHardware-UESTC
99 lines
2.6 KiB
C++
99 lines
2.6 KiB
C++
#include "GY87.h"
|
|
#include "board.h"
|
|
#include "print.h"
|
|
#include "delay.h"
|
|
|
|
#define ADX_SCALE 0.00239420166015625 // 4mg/LSB 16/63356*9.80665
|
|
#define GRY_SCALE 0.001065264417860243 //rad/s 4000/65536*(PI/180)
|
|
#define HMC5883L_SCALE 0.92 // mG/LSb
|
|
|
|
#define WRITE_INTERVAL 20
|
|
|
|
bool GY87::Init()
|
|
{
|
|
delay_ms(500);
|
|
#if IMU_DEBUG_ENABLE
|
|
log("GY87::init");
|
|
#endif
|
|
Board::get()->i2c_init();
|
|
|
|
if (!mpu6050.testConnection()) {
|
|
#if IMU_DEBUG_ENABLE
|
|
log("MPU6050 NOT FOUND!");
|
|
#endif
|
|
return false;
|
|
}
|
|
|
|
mpu6050.initialize();
|
|
delay_ms(WRITE_INTERVAL);
|
|
|
|
#if IMU_DEBUG_ENABLE
|
|
uint8_t buffer=0;
|
|
Board::get()->i2c_read_byte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, &buffer);
|
|
log("MPU6050_RA_PWR_MGMT_1=%d", buffer);
|
|
Board::get()->i2c_read_byte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, &buffer);
|
|
log("MPU6050_RA_GYRO_CONFIG=%d", buffer);
|
|
Board::get()->i2c_read_byte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, &buffer);
|
|
log("MPU6050_RA_ACCEL_CONFIG=%d", buffer);
|
|
#endif
|
|
|
|
if (!mag.testConnection()) {
|
|
#if IMU_DEBUG_ENABLE
|
|
log("HMC5883L NOT FOUND!");
|
|
#endif
|
|
return false;
|
|
}
|
|
|
|
mag.initialize();
|
|
delay_ms(WRITE_INTERVAL);
|
|
mag.setGain(HMC5883L_GAIN_1090);
|
|
delay_ms(WRITE_INTERVAL);
|
|
mag.setDataRate(HMC5883L_RATE_75);
|
|
delay_ms(WRITE_INTERVAL);
|
|
mag.setSampleAveraging(HMC5883L_AVERAGING_1);
|
|
delay_ms(WRITE_INTERVAL);
|
|
mag.setMode(HMC5883L_MODE_SINGLE);
|
|
delay_ms(WRITE_INTERVAL);
|
|
|
|
#if IMU_DEBUG_ENABLE
|
|
Board::get()->i2c_read_byte(HMC5883L_DEFAULT_ADDRESS, HMC5883L_RA_CONFIG_B, &buffer);
|
|
log("HMC5883L_RA_CONFIG_B=%d", buffer);
|
|
Board::get()->i2c_read_byte(HMC5883L_DEFAULT_ADDRESS, HMC5883L_RA_CONFIG_A, &buffer);
|
|
log("HMC5883L_RA_CONFIG_A=%d", buffer);
|
|
Board::get()->i2c_read_byte(HMC5883L_DEFAULT_ADDRESS, HMC5883L_RA_MODE, &buffer);
|
|
log("HMC5883L_RA_MODE=%d", buffer);
|
|
#endif
|
|
|
|
log("GY87 INIT SUCCESS!");
|
|
|
|
return true;
|
|
}
|
|
|
|
#define CYCLE_COUNT 2
|
|
void GY87::GetData(float* imu_data)
|
|
{
|
|
static int i=0;
|
|
|
|
if (i%CYCLE_COUNT==0) {
|
|
mpu6050.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
|
|
} else {
|
|
mag.getHeading(&mx, &my, &mz);
|
|
mag.setMode(HMC5883L_MODE_SINGLE);
|
|
}
|
|
i++;
|
|
|
|
#if IMU_DEBUG_ENABLE
|
|
// log("[%d %d %d] [%d %d %d] [%d %d %d]", ax, ay, az, gx, gy, gz, mx, my, mz);
|
|
#endif
|
|
|
|
imu_data[0] = ax*ADX_SCALE;
|
|
imu_data[1] = ay*ADX_SCALE;
|
|
imu_data[2] = az*ADX_SCALE;
|
|
imu_data[3] = gx*GRY_SCALE;
|
|
imu_data[4] = gy*GRY_SCALE;
|
|
imu_data[5] = gz*GRY_SCALE;
|
|
imu_data[6] = mx*HMC5883L_SCALE;
|
|
imu_data[7] = my*HMC5883L_SCALE;
|
|
imu_data[8] = mz*HMC5883L_SCALE;
|
|
}
|