You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
53 lines
1.3 KiB
53 lines
1.3 KiB
6 years ago
|
#include "ugv_io_mpu.hh"
|
||
|
|
|
||
|
|
#include <driver/uart.h>
|
||
|
|
#include <esp_log.h>
|
||
|
|
|
||
|
|
#include "MPU.hpp"
|
||
|
|
#include "mpu/math.hpp"
|
||
|
|
|
||
|
|
namespace ugv {
|
||
|
|
namespace io {
|
||
|
|
|
||
|
|
static constexpr mpud::accel_fs_t MPU_ACCEL_FS = mpud::ACCEL_FS_2G;
|
||
|
|
static constexpr mpud::gyro_fs_t MPU_GYRO_FS = mpud::GYRO_FS_500DPS;
|
||
|
|
static constexpr float MPU_MAG_TO_FLUX = (4912.f) / (32760.f);
|
||
|
|
|
||
|
|
static const char *TAG = "ugv_io_mpu";
|
||
|
|
|
||
|
|
MPU::MPU() { mpu_ = new mpud::MPU(); }
|
||
|
|
|
||
|
|
MPU::~MPU() { delete mpu_; }
|
||
|
|
|
||
|
|
void MPU::Init() {
|
||
|
|
esp_err_t ret;
|
||
|
|
ret = mpu_->testConnection();
|
||
|
|
if (ret != ESP_OK) {
|
||
|
|
ESP_LOGE(TAG, "MPU not connected");
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
ret = mpu_->initialize();
|
||
|
|
if (ret != ESP_OK) {
|
||
|
|
ESP_LOGE(TAG, "MPU initialization error");
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
mpu_->setAccelFullScale(MPU_ACCEL_FS);
|
||
|
|
mpu_->setGyroFullScale(MPU_GYRO_FS);
|
||
|
|
ESP_LOGI(TAG, "MPU initialized");
|
||
|
|
}
|
||
|
|
|
||
|
|
void MPU::GetData(MpuData &data) {
|
||
|
|
esp_err_t ret = mpu_->motion(&accel_, &gyro_, &mag_);
|
||
|
|
if (ret != ESP_OK) {
|
||
|
|
ESP_LOGE(TAG, "error reading MPU");
|
||
|
|
}
|
||
|
|
data.accel = mpud::accelGravity(accel_, MPU_ACCEL_FS);
|
||
|
|
data.gyro_rate = mpud::gyroDegPerSec(gyro_, MPU_GYRO_FS);
|
||
|
|
data.mag.x = ((float)mag_.x) * MPU_MAG_TO_FLUX;
|
||
|
|
data.mag.y = ((float)mag_.y) * MPU_MAG_TO_FLUX;
|
||
|
|
data.mag.z = ((float)mag_.z) * MPU_MAG_TO_FLUX;
|
||
|
|
}
|
||
|
|
|
||
|
|
}; // namespace io
|
||
|
|
}; // namespace ugv
|