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76 lines
1.4 KiB
C++
76 lines
1.4 KiB
C++
#include "gyro.h"
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#include <stdint.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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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();
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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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_Enabled = [] { return false; };
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}
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void Gyro::setEnabledCallback(bool (*Enabled)())
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{
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this->_Enabled = Enabled;
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}
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void Gyro::update()
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{
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mpu.getRotation(&x, &y, &z);
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x = x_filter.filter(x);
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y = y_filter.filter(y);
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z = z_filter.filter(z);
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}
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