135 lines
3.8 KiB
C++
135 lines
3.8 KiB
C++
#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
|
|
log("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);
|
|
log("ADXL345_RA_POWER_CTL=%d", buffer);
|
|
Board::get()->i2c_read_byte(ADXL345_DEFAULT_ADDRESS, ADXL345_RA_DATA_FORMAT, &buffer);
|
|
log("ADXL345_RA_DATA_FORMAT=%d", buffer);
|
|
Board::get()->i2c_read_byte(ADXL345_DEFAULT_ADDRESS, ADXL345_RA_BW_RATE, &buffer);
|
|
log("ADXL345_RA_BW_RATE=%d", buffer);
|
|
#endif
|
|
|
|
if (!gyro.testConnection()) {
|
|
#if IMU_DEBUG_ENABLE
|
|
log("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);
|
|
log("ITG3200_RA_PWR_MGM=%d", buffer);
|
|
Board::get()->i2c_read_byte(ITG3200_DEFAULT_ADDRESS, ITG3200_RA_DLPF_FS, &buffer);
|
|
log("ITG3200_RA_DLPF_FS=%d", buffer);
|
|
Board::get()->i2c_read_byte(ITG3200_DEFAULT_ADDRESS, ITG3200_RA_SMPLRT_DIV, &buffer);
|
|
log("ITG3200_RA_SMPLRT_DIV=%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("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
|
|
log("[%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;
|
|
}
|