Niklas Jensen
149 lines
4.3 KiB
C++
149 lines
4.3 KiB
C++
#pragma once
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#include <utils/math_utils.h>
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#include <features.h>
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#include <peripherals/sensor.hpp>
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#if FT_ENABLED(USE_ICM20948)
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#include "ICM_20948.h"
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#endif
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#if FT_ENABLED(USE_MPU6050)
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#include <peripherals/drivers/mpu6050.h>
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#endif
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#if FT_ENABLED(USE_BNO055)
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#include <peripherals/drivers/bno055.h>
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#endif
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struct IMUAnglesMsg {
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float rpy[3] {0, 0, 0};
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float temperature {-1};
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bool success {false};
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};
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class IMU : public SensorBase<IMUAnglesMsg> {
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public:
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bool initialize(void* _arg = nullptr) override {
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#if FT_ENABLED(USE_MPU6050)
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_msg.success = _imu.begin();
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if (!_msg.success) {
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ESP_LOGE("IMU", "MPU6050 initialization failed");
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return false;
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}
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ESP_LOGI("IMU", "MPU6050 initialized successfully");
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#endif
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#if FT_ENABLED(USE_BNO055)
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_msg.success = _imu.begin();
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if (!_msg.success) {
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ESP_LOGE("IMU", "BNO055 initialization failed");
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return false;
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}
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#endif
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#if FT_ENABLED(USE_ICM20948)
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#if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
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SPI_PORT.begin(SPI_SCK, SPI_MISO, SPI_MOSI, -1); // TODO: Move to global spi start
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_imu = (ICM_20948_SPI*)_arg;
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#ifndef ICM20948_ALIVE
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#define ICM20948_ALIVE
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_imu->begin(ICM20948_SPI_CS, SPI_PORT); ESP_LOGI("IMU", "Beginning ICM20948 in SPI mode");
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#endif
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#else
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_imu = (ICM_20948_I2C*)_arg;
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#ifndef ICM20948_ALIVE
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#define ICM20948_ALIVE
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_imu->begin(Wire, 1, 0xFF); ESP_LOGI("IMU", "Beginning ICM20948 in I2C mode");
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#endif
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#endif
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if (_imu->status != ICM_20948_Stat_Ok){ ESP_LOGW("IMU", "Failed to start ICM20948: begin failed"); return false; }
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_imu->setSampleMode((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Continuous);
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if (_imu->status != ICM_20948_Stat_Ok){ ESP_LOGW("IMU", "Failed to start ICM20948: set sample failed"); return false; }
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ICM_20948_fss_t myFSS;
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myFSS.a = gpm2;
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myFSS.g = dps250;
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_imu->setFullScale((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS);
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if (_imu->status != ICM_20948_Stat_Ok){ ESP_LOGW("IMU", "Failed to start ICM20948: set full scale failed"); return false; }
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// TODO: Setup low pass filter config
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_msg.success = true;
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#endif
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return _msg.success;
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}
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bool update() override {
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//if (!_msg.success) return false;
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#if FT_ENABLED(USE_MPU6050)
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if (!_imu.update()) return false;
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_msg.rpy[0] = _imu.getYaw();
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_msg.rpy[1] = _imu.getPitch();
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_msg.rpy[2] = _imu.getRoll();
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_msg.temperature = _imu.getTemperature();
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#endif
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#if FT_ENABLED(USE_ICM20948)
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if (_imu->dataReady())
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{
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_imu->getAGMT();
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_msg.rpy[0] = _imu->gyrX();
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_msg.rpy[1] = _imu->gyrY();
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_msg.rpy[2] = _imu->gyrZ();
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}
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#endif
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#if FT_ENABLED(USE_BNO055)
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#endif
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#if FT_ENABLED(USE_ICM20948)
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#if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
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ICM_20948_SPI _imu;
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#else
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//#define WIRE_PORT Wire
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ICM_20948_I2C _imu;
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#endif
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if (!_imu.update()) return false;
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_msg.rpy[0] = _imu.getHeading();
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_msg.rpy[1] = _imu.getPitch();
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_msg.rpy[2] = _imu.getRoll();
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#endif
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return true;
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}
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float getTemperature() { return _msg.temperature; }
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float getAngleX() { return _msg.rpy[2]; }
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float getAngleY() { return _msg.rpy[1]; }
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float getAngleZ() { return _msg.rpy[0]; }
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bool calibrate() {
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#if FT_ENABLED(USE_MPU6050)
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if (!_msg.success) return false;
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ESP_LOGI("IMU", "Starting calibration...");
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bool result = _imu.calibrate();
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ESP_LOGI("IMU", "Calibration complete");
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return result;
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#elif FT_ENABLED(USE_BNO055)
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if (!_msg.success) return false;
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ESP_LOGI("IMU", "Starting calibration...");
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bool result = _imu.calibrate();
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ESP_LOGI("IMU", "Calibration complete");
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return result;
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#else
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return false;
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#endif
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}
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private:
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#if FT_ENABLED(USE_MPU6050)
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MPU6050Driver _imu;
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#endif
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#if FT_ENABLED(USE_BNO055)
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BNO055Driver _imu;
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#endif
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#if FT_ENABLED(USE_ICM20948)
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#if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
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ICM_20948_SPI* _imu;
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#else
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//#define WIRE_PORT Wire
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ICM_20948_I2C* _imu;
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#endif
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#endif
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};
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