You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
102 lines
1.8 KiB
C++
102 lines
1.8 KiB
C++
#include "gyro.h"
|
|
|
|
#include <stdint.h>
|
|
|
|
#include "util_func.h"
|
|
|
|
void Gyro::Filter::init(uint8_t size)
|
|
{
|
|
this->size = size;
|
|
buffer = new int16_t[size];
|
|
for (uint8_t i = 0; i < size; i++)
|
|
{
|
|
buffer[i] = 0;
|
|
}
|
|
pointer = 0;
|
|
sum = 0;
|
|
}
|
|
|
|
Gyro::Filter::~Filter()
|
|
{
|
|
delete[] buffer;
|
|
}
|
|
|
|
int16_t Gyro::Filter::filter(int16_t x)
|
|
{
|
|
sum -= buffer[pointer];
|
|
sum += x;
|
|
buffer[pointer] = x;
|
|
|
|
pointer = (pointer + 1) % size;
|
|
|
|
return sum / size;
|
|
}
|
|
|
|
Gyro::Gyro()
|
|
{
|
|
invert_x = 1;
|
|
invert_y = 1;
|
|
invert_z = 1;
|
|
}
|
|
|
|
void Gyro::init()
|
|
{
|
|
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
|
|
Wire.begin();
|
|
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
|
|
Fastwire::setup(400, true);
|
|
#endif
|
|
|
|
mpu.initialize();
|
|
Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
|
|
|
|
/*
|
|
mpu.setXGyroOffset(0);
|
|
mpu.setYGyroOffset(0);
|
|
mpu.setZGyroOffset(0);
|
|
*/
|
|
mpu.CalibrateGyro();
|
|
|
|
uint8_t filter_size = 5;
|
|
x_filter.init(filter_size);
|
|
y_filter.init(filter_size);
|
|
z_filter.init(filter_size);
|
|
|
|
//mpu.setIntDataReadyEnabled(1);
|
|
|
|
//mpu.setDLPFMode(MPU6050_DLPF_BW_5);
|
|
|
|
_Enabled = [] { return false; };
|
|
}
|
|
|
|
void Gyro::update()
|
|
{
|
|
mpu.getRotation(&x, &y, &z);
|
|
|
|
x = x_filter.filter(x) * invert_x;
|
|
y = y_filter.filter(y) * invert_y;
|
|
z = z_filter.filter(z) * invert_z;
|
|
}
|
|
|
|
int32_t Gyro::getDX()
|
|
{
|
|
switch (bind_to_x)
|
|
{
|
|
case BIND_X:
|
|
return x;
|
|
|
|
case BIND_Z:
|
|
return z;
|
|
|
|
case BIND_XZ:
|
|
return (int32_t)x + (int32_t)z;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
int16_t Gyro::getDY()
|
|
{
|
|
return y;
|
|
}
|