amikhalev/uas-ugv
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actually configure I2C bus for MPU

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This commit is contained in:
Alex Mikhalev 2019-01-17 22:04:30 -08:00
parent 3d67aaab48
commit 91b017c27d
2 changed files with 11 additions and 4 deletions
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8
main/ugv_io_mpu.cc
View File

@ -9,6 +9,8 @@
namespace ugv {
namespace io {
static constexpr gpio_num_t MPU_SDA = GPIO_NUM_2;
static constexpr gpio_num_t MPU_SCL = GPIO_NUM_3;
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);
@ -20,7 +22,7 @@ Vec3f::Vec3f(float x, float y, float z) : x(x), y(y), z(z) {}
Vec3f::Vec3f(const mpud::float_axes_t &axes)
: x(axes.x), y(axes.y), z(axes.z) {}
MPU::MPU() { mpu_ = new mpud::MPU(); }
MPU::MPU() : mpu_(nullptr), mpu_data_() {}
MPU::~MPU() { delete mpu_; }
@ -28,6 +30,10 @@ void MPU::Init() {
mutex_ = xSemaphoreCreateMutex();
mpu_data_ = MpuData{};
mpu_bus_ = &i2c0;
mpu_bus_->begin(MPU_SDA, MPU_SCL);
mpu_ = new mpud::MPU(*mpu_bus_);
esp_err_t ret;
ret = mpu_->testConnection();
if (ret != ESP_OK) {

3
main/ugv_io_mpu.hh
View File

@ -14,7 +14,7 @@ struct Vec3f {
Vec3f();
Vec3f(float x, float y, float z);
Vec3f(const mpud::float_axes_t& axes);
Vec3f(const mpud::float_axes_t &axes);
};
struct MpuData {
@ -36,6 +36,7 @@ class MPU {
void GetData(MpuData &data);
private:
mpud::mpu_bus_t *mpu_bus_;
mpud::MPU * mpu_;
mpud::raw_axes_t accel_, gyro_, mag_;