Diff: gy521.cpp

Revision:

0:ca84ed7518f5

Child:

3:28c77df7c0b6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gy521.cpp	Thu Jan 02 09:30:06 2020 +0000
@@ -0,0 +1,119 @@
+#include "gy521.hpp"
+
+const double GY521_LSB_MAP[4] = {131, 65.5, 32.8, 16.4};
+const unsigned int dev_id = 0x68 <<  1;
+enum GY521RegisterMap {
+  WHO_AM_I = 0x75,
+  PWR_MGMT_1 = 0x6B,
+  LPF = 0x1A,
+  FS_SEL = 0x1B,
+  AFS_SEL = 0x1C,
+  ACCEL_XOUT_H = 0x3B,
+  ACCEL_YOUT_H = 0x3D,
+  ACCEL_ZOUT_H = 0x3F,
+  //TEMPERATURE  = 0x41,
+  //GYRO_XOUT_H = 0x43,
+  //GYRO_YOUT_H = 0x45,
+  GYRO_ZOUT_H = 0x47
+};
+
+GY521::GY521(I2C &i2c,int bit,int calibration,double user_reg):i2c_(i2c),bit_(bit),calibration_(calibration){
+    char check;
+    char data[2] = {WHO_AM_I,0x00};
+    i2c_.write(dev_id,data,1,true);
+    i2c_.read(dev_id,&check,1);
+    if(check == dev_id >> 1){
+        data[0] = PWR_MGMT_1;
+        i2c_.write(dev_id,data,1,true);
+        i2c_.read(dev_id,&check,1);
+        if(check == 0x40){
+            i2c_.write(dev_id,data,2);
+        }
+    }
+    data[0] = LPF;
+    data[1] = 0x00;
+    i2c_.write(dev_id,data,2);
+    data[0] = AFS_SEL;
+    data[1] = 0x00;
+    i2c_.write(dev_id,data,2);
+    short accel_x_now = 0,accel_y_now = 0,accel_z_now = 0;
+    double accel_x_aver = 0, accel_y_aver = 0, accel_z_aver = 0;
+    for (int i = 0; i < calibration_; ++i) {
+        accel_x_now = gyroRead2(ACCEL_XOUT_H);
+        accel_y_now = gyroRead2(ACCEL_YOUT_H);
+        accel_z_now = gyroRead2(ACCEL_ZOUT_H);
+        accel_x_aver += accel_x_now;
+        accel_y_aver += accel_y_now;
+        accel_z_aver += accel_z_now;
+    }
+    accel_x_aver /= calibration_;
+    accel_y_aver /= calibration_;
+    accel_z_aver /= calibration_;
+    double gyro_reg = hypot(hypot(accel_x_aver, accel_y_aver), accel_z_aver) / accel_z_aver;
+    data[0] = FS_SEL;
+    data[1] = bit << 3;
+    i2c_.write(dev_id,data,2);
+    gyro_LSB_ = GY521_LSB_MAP[bit_] / gyro_reg / user_reg;
+    
+    short gyro_z_now_;
+    gyro_z_aver_ = 0;
+    for (int i = 0; i < calibration_; ++i) {
+        gyro_z_now_ = gyroRead2(GYRO_ZOUT_H);
+        gyro_z_aver_ += gyro_z_now_;
+    }
+    gyro_z_aver_ /= calibration_;
+
+    yaw = diff_yaw_ = 0;
+    timer_.start();
+    flag_ = false;
+}
+
+void GY521::updata(){
+    if(flag_){
+        return;
+    }
+    short gyro_z_now_ = gyroRead2(GYRO_ZOUT_H);
+    gyro_z_now_ = ((double)gyro_z_now_ - gyro_z_aver_) / gyro_LSB_;
+    diff_yaw_ = (gyro_z_now_ + gyro_z_prev_) / 2 * timer_.read();
+    timer_.reset();
+    yaw += diff_yaw_;
+    gyro_z_prev_ = gyro_z_now_;
+    //temp = (double)gyroRead2(TEMPERATURE)/340+36.53;
+    if (yaw > 180) {
+        yaw -= 360;
+    } else if (yaw <= -180) {
+        yaw += 360;
+    }
+}
+
+void GY521::reset(int user){
+    yaw = user;
+    short gyro_z_now_;
+    flag_ = true;
+    gyro_z_aver_ = 0;
+    for (int i = 0; i < calibration_; i++) {
+        gyro_z_now_ = gyroRead2(GYRO_ZOUT_H);
+        gyro_z_aver_ += gyro_z_now_;
+    }
+    gyro_z_aver_ /= calibration_;
+    flag_ = false;
+}
+    
+double GY521::checkStatus(int mode) {
+  if (mode == 0) {
+    return gyro_LSB_;
+  } else if (mode == 1) {
+    return gyro_z_aver_;
+  } else if (mode == 2) {
+    return acos(gyro_LSB_ / GY521_LSB_MAP[bit_]);
+  }
+  return 0;
+}
+
+int16_t GY521::gyroRead2(enum GY521RegisterMap reg) {
+    char data[2];
+    char addr = reg;
+    i2c_.write(dev_id,&addr,1,true);
+    i2c_.read(dev_id,data,2);
+    return (data[0] << 8) + data[1];
+}
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