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