RobotHardware-UESTC/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY85.cpp

#include "GY85.h"
#include "board.h"
#include "print.h"
#include "delay.h"

#define ADXL345_SCALE 0.0392266  // 4mg/LSB    4*9.80665
#define ITG3205_SCALE 0.001065264417860243  //rad/s   4000/65536*(PI/180)
#define HMC5883L_SCALE 0.92  // mG/LSb

#define WRITE_INTERVAL 20
bool GY85::init()
{
    delay_ms(500);
    Board::get()->i2c_init();

    if (!accel.testConnection()) {
#if IMU_DEBUG_ENABLE
        pb_printf("ADXL345 NOT FOUND!");
#endif
        return false;
    }

    accel.initialize();
    delay_ms(WRITE_INTERVAL);
    accel.setAutoSleepEnabled(false);
    delay_ms(WRITE_INTERVAL);
    accel.setFullResolution(1);
    delay_ms(WRITE_INTERVAL);
    accel.setRange(ADXL345_RANGE_4G);
    delay_ms(WRITE_INTERVAL);
    accel.setRate(ADXL345_RATE_50);
    delay_ms(WRITE_INTERVAL);
    
#if IMU_DEBUG_ENABLE
    uint8_t buffer=0;
    Board::get()->i2c_read_byte(ADXL345_DEFAULT_ADDRESS, ADXL345_RA_POWER_CTL, &buffer);
    pb_printf("ADXL345_RA_POWER_CTL=%d", buffer);
    Board::get()->i2c_read_byte(ADXL345_DEFAULT_ADDRESS, ADXL345_RA_DATA_FORMAT, &buffer);
    pb_printf("ADXL345_RA_DATA_FORMAT=%d", buffer);
    Board::get()->i2c_read_byte(ADXL345_DEFAULT_ADDRESS, ADXL345_RA_BW_RATE, &buffer);
    pb_printf("ADXL345_RA_BW_RATE=%d", buffer);
#endif

    if (!gyro.testConnection()) {
#if IMU_DEBUG_ENABLE
        pb_printf("ITG3205 NOT FOUND!");
#endif
        return false;
    }

    gyro.initialize();
    gyro.reset();
    delay_ms(WRITE_INTERVAL);
    gyro.setFullScaleRange(ITG3200_FULLSCALE_2000);
    delay_ms(WRITE_INTERVAL);
    gyro.setDLPFBandwidth(ITG3200_DLPF_BW_42);
    delay_ms(WRITE_INTERVAL);
    gyro.setRate(0x13);     //1khz/(1+0x13)  50hz
    delay_ms(WRITE_INTERVAL);
    gyro.setClockSource(ITG3200_CLOCK_PLL_ZGYRO);
    delay_ms(WRITE_INTERVAL);
    
#if IMU_DEBUG_ENABLE
    Board::get()->i2c_read_byte(ITG3200_DEFAULT_ADDRESS, ITG3200_RA_PWR_MGM, &buffer);
    pb_printf("ITG3200_RA_PWR_MGM=%d", buffer);
    Board::get()->i2c_read_byte(ITG3200_DEFAULT_ADDRESS, ITG3200_RA_DLPF_FS, &buffer);
    pb_printf("ITG3200_RA_DLPF_FS=%d", buffer);
    Board::get()->i2c_read_byte(ITG3200_DEFAULT_ADDRESS, ITG3200_RA_SMPLRT_DIV, &buffer);
    pb_printf("ITG3200_RA_SMPLRT_DIV=%d", buffer);
#endif

    if (!mag.testConnection()) {
#if IMU_DEBUG_ENABLE
        pb_printf("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);
    pb_printf("HMC5883L_RA_CONFIG_B=%d", buffer);
    Board::get()->i2c_read_byte(HMC5883L_DEFAULT_ADDRESS, HMC5883L_RA_CONFIG_A, &buffer);
    pb_printf("HMC5883L_RA_CONFIG_A=%d", buffer);
    Board::get()->i2c_read_byte(HMC5883L_DEFAULT_ADDRESS, HMC5883L_RA_MODE, &buffer);
    pb_printf("HMC5883L_RA_MODE=%d", buffer);
#endif

    pb_printf("GY85 INIT SUCCESS!");

    return true;
}

#define CYCLE_COUNT 3

void GY85::get_data(float* imu_data)
{
    static int i=0;

    if (i%CYCLE_COUNT==0) {
        accel.getAcceleration(&ax, &ay, &az);
    } else if (i%CYCLE_COUNT==1)
    {
        gyro.getRotation(&gx, &gy, &gz);
    } else //if (i%CYCLE_COUNT==2)
    {
        mag.getHeading(&mx, &my, &mz);
        mag.setMode(HMC5883L_MODE_SINGLE);
    }
    i++;
#if IMU_DEBUG_ENABLE
    pb_printf("[%d %d %d] [%d %d %d] [%d %d %d]", ax, ay, az, gx, gy, gz, mx, my, mz);
#endif

    imu_data[0] = ax*ADXL345_SCALE;
    imu_data[1] = ay*ADXL345_SCALE;
    imu_data[2] = az*ADXL345_SCALE;
    imu_data[3] = gx*ITG3205_SCALE;
    imu_data[4] = gy*ITG3205_SCALE;
    imu_data[5] = gz*ITG3205_SCALE;
    imu_data[6] = mx*HMC5883L_SCALE;
    imu_data[7] = my*HMC5883L_SCALE;
    imu_data[8] = mz*HMC5883L_SCALE;
}