Rune Harlyk
135 lines
3.5 KiB
C++
135 lines
3.5 KiB
C++
#pragma once
|
|
|
|
#include <SPI.h>
|
|
#include <Wire.h>
|
|
#include <utils/math_utils.h>
|
|
|
|
#if FT_ENABLED(USE_MPU6050)
|
|
#include <MPU6050_6Axis_MotionApps612.h>
|
|
#endif
|
|
|
|
#if FT_ENABLED(USE_BNO055)
|
|
#include <Adafruit_BNO055.h>
|
|
#endif
|
|
|
|
#include <peripherals/sensor.hpp>
|
|
|
|
struct IMUAnglesMsg {
|
|
float rpy[3] {0, 0, 0};
|
|
float temperature {-1};
|
|
bool success {false};
|
|
};
|
|
|
|
class IMU : public SensorBase<IMUAnglesMsg> {
|
|
public:
|
|
bool initialize() override {
|
|
#if FT_ENABLED(USE_MPU6050)
|
|
_imu.initialize();
|
|
_msg.success = _imu.testConnection();
|
|
if (!_msg.success) {
|
|
ESP_LOGE("IMU", "MPU6050 connection test failed");
|
|
return false;
|
|
}
|
|
devStatus = _imu.dmpInitialize();
|
|
if (devStatus == 0) {
|
|
_imu.setXGyroOffset(0);
|
|
_imu.setYGyroOffset(0);
|
|
_imu.setZGyroOffset(0);
|
|
_imu.setXAccelOffset(0);
|
|
_imu.setYAccelOffset(0);
|
|
_imu.setZAccelOffset(0);
|
|
|
|
_imu.setI2CMasterModeEnabled(false);
|
|
_imu.setI2CBypassEnabled(true);
|
|
_imu.setSleepEnabled(false);
|
|
_imu.setRate(1);
|
|
_imu.resetFIFO();
|
|
_imu.setDMPEnabled(true);
|
|
|
|
ESP_LOGI("IMU", "MPU6050 DMP initialized successfully");
|
|
} else {
|
|
ESP_LOGE("IMU", "DMP initialization failed (code %d)", devStatus);
|
|
_msg.success = false;
|
|
}
|
|
#endif
|
|
#if FT_ENABLED(USE_BNO055)
|
|
_msg.success = _imu.begin();
|
|
if (!_msg.success) {
|
|
ESP_LOGE("IMU", "BNO055 connection test failed");
|
|
return false;
|
|
}
|
|
_imu.setExtCrystalUse(true);
|
|
#endif
|
|
return _msg.success;
|
|
}
|
|
|
|
bool update() override {
|
|
if (!_msg.success) return false;
|
|
#if FT_ENABLED(USE_MPU6050)
|
|
uint16_t fifoCount = _imu.getFIFOCount();
|
|
uint8_t intStatus = _imu.getIntStatus();
|
|
|
|
if (intStatus & 0x10) {
|
|
_imu.resetFIFO();
|
|
ESP_LOGW("IMU", "FIFO overflow, resetting");
|
|
return false;
|
|
}
|
|
|
|
if (_imu.dmpGetCurrentFIFOPacket(fifoBuffer)) {
|
|
_imu.dmpGetQuaternion(&q, fifoBuffer);
|
|
_imu.dmpGetGravity(&gravity, &q);
|
|
_imu.dmpGetYawPitchRoll(_msg.rpy, &q, &gravity);
|
|
return true;
|
|
}
|
|
return false;
|
|
#endif
|
|
#if FT_ENABLED(USE_BNO055)
|
|
sensors_event_t event;
|
|
_imu.getEvent(&event);
|
|
_msg.rpy[0] = event.orientation.x;
|
|
_msg.rpy[1] = event.orientation.y;
|
|
_msg.rpy[2] = event.orientation.z;
|
|
#endif
|
|
return true;
|
|
}
|
|
|
|
float getTemperature() { return _msg.temperature; }
|
|
|
|
float getAngleX() { return _msg.rpy[2]; }
|
|
|
|
float getAngleY() { return _msg.rpy[1]; }
|
|
|
|
float getAngleZ() { return _msg.rpy[0]; }
|
|
|
|
bool calibrate() {
|
|
#if FT_ENABLED(USE_MPU6050)
|
|
if (!_msg.success) return false;
|
|
ESP_LOGI("IMU", "Starting calibration...");
|
|
_imu.CalibrateGyro(6);
|
|
_imu.CalibrateAccel(6);
|
|
ESP_LOGI("IMU", "Calibration complete");
|
|
return true;
|
|
#elif FT_ENABLED(USE_BNO055)
|
|
if (!_msg.success) return false;
|
|
ESP_LOGI("IMU", "Starting calibration...");
|
|
adafruit_bno055_offsets_t offsets;
|
|
bool result = _imu.getSensorOffsets(offsets);
|
|
ESP_LOGI("IMU", "Calibration complete");
|
|
return result;
|
|
#else
|
|
return false;
|
|
#endif
|
|
}
|
|
|
|
private:
|
|
#if FT_ENABLED(USE_MPU6050)
|
|
MPU6050 _imu;
|
|
uint8_t devStatus {0};
|
|
Quaternion q;
|
|
uint8_t fifoBuffer[64];
|
|
VectorFloat gravity;
|
|
#endif
|
|
#if FT_ENABLED(USE_BNO055)
|
|
Adafruit_BNO055 _imu {55, 0x29};
|
|
#endif
|
|
}; |