RobotHardware-UESTC/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/GY65.cpp

#include "GY65.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 WRITE_INTERVAL 20

bool GY65::Init()
{
    delay_ms(500);
    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

    log("GY65 INIT SUCCESS!");

    return true;
}

void GY65::GetData(float* imu_data)
{
    mpu6050.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

#if IMU_DEBUG_ENABLE
   log("[%d %d %d] [%d %d %d]", ax, ay, az, gx, gy, gz);
#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] = 0;
    imu_data[7] = 0;
    imu_data[8] = 0;
}