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#include "gyro.h"
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#include <stdint.h>
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#include "util_func.h"
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void Gyro::Filter::init(uint8_t size)
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{
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this->size = size;
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buffer = new int16_t[size];
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for (uint8_t i = 0; i < size; i++)
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{
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buffer[i] = 0;
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}
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pointer = 0;
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sum = 0;
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}
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Gyro::Filter::~Filter()
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{
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delete[] buffer;
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}
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int16_t Gyro::Filter::filter(int16_t x)
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{
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sum -= buffer[pointer];
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sum += x;
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buffer[pointer] = x;
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pointer = (pointer + 1) % size;
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return sum / size;
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}
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Gyro::Gyro()
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{
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invert_x = 1;
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invert_y = 1;
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invert_z = 1;
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sensitivity = 1.0f;
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time0 = 0;
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delay = 0;
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bind_to_x = BIND_X;
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_Enabled = [] { return false; };
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}
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void Gyro::init()
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{
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#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
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Wire.begin();
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#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
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Fastwire::setup(400, true);
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#endif
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mpu.initialize();
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Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
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/*
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mpu.setXGyroOffset(0);
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mpu.setYGyroOffset(0);
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mpu.setZGyroOffset(0);
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*/
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mpu.CalibrateGyro(6);
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uint8_t filter_size = 5;
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x_filter.init(filter_size);
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y_filter.init(filter_size);
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z_filter.init(filter_size);
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//mpu.setIntDataReadyEnabled(1);
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//mpu.setDLPFMode(MPU6050_DLPF_BW_5);
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}
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void Gyro::update(uint32_t time)
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{
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if (Enabled())
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{
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float dt = time - time0;
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if (dt > delay)
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{
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time0 = time;
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int16_t x, y, z;
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mpu.getRotation(&x, &y, &z);
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//x = x_filter.filter(x) * invert_x;
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//y = y_filter.filter(y) * invert_y;
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//z = z_filter.filter(z) * invert_z;
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dt /= 1000.0f;
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this->x = x * sensitivity * invert_x * dt;
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this->y = y * sensitivity * invert_y * dt;
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this->z = z * sensitivity * invert_z * dt;
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}
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}
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}
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int16_t Gyro::getDX()
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{
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int32_t dx;
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switch (bind_to_x)
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{
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case BIND_X:
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dx = x;
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break;
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case BIND_Z:
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dx = z;
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break;
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case BIND_XZ:
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dx = x + z;
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}
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if (dx > -deadzone && dx < deadzone)
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{
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dx = 0;
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}
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else
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if (dx >= deadzone && dx < min_delta)
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{
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dx = min_delta;
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}
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else
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if (dx <= -deadzone && dx > -min_delta)
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{
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dx = -min_delta;
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}
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return clamp(dx, -32767, 32767);
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}
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int16_t Gyro::getDY()
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{
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if (y > -deadzone && y < deadzone)
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{
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y = 0;
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}
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else
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if (y >= deadzone && y < min_delta)
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{
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y = min_delta;
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}
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else
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if (y <= -deadzone && y > -min_delta)
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{
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y = -min_delta;
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}
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return clamp(y, -32767, 32767);
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}
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