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52 lines
1.3 KiB
52 lines
1.3 KiB
#include "ugv_io_mpu.hh" |
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#include <driver/uart.h> |
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#include <esp_log.h> |
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#include "MPU.hpp" |
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#include "mpu/math.hpp" |
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namespace ugv { |
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namespace io { |
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static constexpr mpud::accel_fs_t MPU_ACCEL_FS = mpud::ACCEL_FS_2G; |
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static constexpr mpud::gyro_fs_t MPU_GYRO_FS = mpud::GYRO_FS_500DPS; |
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static constexpr float MPU_MAG_TO_FLUX = (4912.f) / (32760.f); |
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static const char *TAG = "ugv_io_mpu"; |
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MPU::MPU() { mpu_ = new mpud::MPU(); } |
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MPU::~MPU() { delete mpu_; } |
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void MPU::Init() { |
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esp_err_t ret; |
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ret = mpu_->testConnection(); |
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if (ret != ESP_OK) { |
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ESP_LOGE(TAG, "MPU not connected"); |
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return; |
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} |
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ret = mpu_->initialize(); |
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if (ret != ESP_OK) { |
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ESP_LOGE(TAG, "MPU initialization error"); |
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return; |
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} |
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mpu_->setAccelFullScale(MPU_ACCEL_FS); |
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mpu_->setGyroFullScale(MPU_GYRO_FS); |
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ESP_LOGI(TAG, "MPU initialized"); |
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} |
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void MPU::GetData(MpuData &data) { |
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esp_err_t ret = mpu_->motion(&accel_, &gyro_, &mag_); |
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if (ret != ESP_OK) { |
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ESP_LOGE(TAG, "error reading MPU"); |
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} |
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data.accel = mpud::accelGravity(accel_, MPU_ACCEL_FS); |
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data.gyro_rate = mpud::gyroDegPerSec(gyro_, MPU_GYRO_FS); |
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data.mag.x = ((float)mag_.x) * MPU_MAG_TO_FLUX; |
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data.mag.y = ((float)mag_.y) * MPU_MAG_TO_FLUX; |
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data.mag.z = ((float)mag_.z) * MPU_MAG_TO_FLUX; |
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} |
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}; // namespace io |
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}; // namespace ugv
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