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my new gear...
sensor/gy521.cpp@3:a9b4b2565a23, 2022-03-27 (annotated)
- Committer:
- yootee
- Date:
- Sun Mar 27 04:51:16 2022 +0000
- Revision:
- 3:a9b4b2565a23
my new gear...
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yootee | 3:a9b4b2565a23 | 1 | #include "gy521.hpp" |
yootee | 3:a9b4b2565a23 | 2 | |
yootee | 3:a9b4b2565a23 | 3 | const double GY521_LSB_MAP[4] = {131, 65.5, 32.8, 16.4}; |
yootee | 3:a9b4b2565a23 | 4 | const unsigned int dev_id = 0x68 << 1; |
yootee | 3:a9b4b2565a23 | 5 | |
yootee | 3:a9b4b2565a23 | 6 | GY521::GY521(I2C &i2c,int bit,int calibration,double user_reg):i2c_(i2c),bit_(bit),calibration_(calibration){ |
yootee | 3:a9b4b2565a23 | 7 | char check; |
yootee | 3:a9b4b2565a23 | 8 | char data[2] = {WHO_AM_I,0x00}; |
yootee | 3:a9b4b2565a23 | 9 | i2c_.write(dev_id,data,1,true); |
yootee | 3:a9b4b2565a23 | 10 | i2c_.read(dev_id,&check,1); |
yootee | 3:a9b4b2565a23 | 11 | if(check == dev_id >> 1){ |
yootee | 3:a9b4b2565a23 | 12 | data[0] = PWR_MGMT_1; |
yootee | 3:a9b4b2565a23 | 13 | i2c_.write(dev_id,data,1,true); |
yootee | 3:a9b4b2565a23 | 14 | i2c_.read(dev_id,&check,1); |
yootee | 3:a9b4b2565a23 | 15 | if(check == 0x40){ |
yootee | 3:a9b4b2565a23 | 16 | i2c_.write(dev_id,data,2); |
yootee | 3:a9b4b2565a23 | 17 | } |
yootee | 3:a9b4b2565a23 | 18 | } |
yootee | 3:a9b4b2565a23 | 19 | data[0] = LPF; |
yootee | 3:a9b4b2565a23 | 20 | data[1] = 0x00; |
yootee | 3:a9b4b2565a23 | 21 | i2c_.write(dev_id,data,2); |
yootee | 3:a9b4b2565a23 | 22 | data[0] = AFS_SEL; |
yootee | 3:a9b4b2565a23 | 23 | data[1] = 0x00; |
yootee | 3:a9b4b2565a23 | 24 | i2c_.write(dev_id,data,2); |
yootee | 3:a9b4b2565a23 | 25 | short accel_x_now = 0,accel_y_now = 0,accel_z_now = 0; |
yootee | 3:a9b4b2565a23 | 26 | double accel_x_aver = 0, accel_y_aver = 0, accel_z_aver = 0; |
yootee | 3:a9b4b2565a23 | 27 | for (int i = 0; i < calibration_; ++i) { |
yootee | 3:a9b4b2565a23 | 28 | accel_x_now = gyroRead2(ACCEL_XOUT_H); |
yootee | 3:a9b4b2565a23 | 29 | accel_y_now = gyroRead2(ACCEL_YOUT_H); |
yootee | 3:a9b4b2565a23 | 30 | accel_z_now = gyroRead2(ACCEL_ZOUT_H); |
yootee | 3:a9b4b2565a23 | 31 | accel_x_aver += accel_x_now; |
yootee | 3:a9b4b2565a23 | 32 | accel_y_aver += accel_y_now; |
yootee | 3:a9b4b2565a23 | 33 | accel_z_aver += accel_z_now; |
yootee | 3:a9b4b2565a23 | 34 | } |
yootee | 3:a9b4b2565a23 | 35 | accel_x_aver /= calibration_; |
yootee | 3:a9b4b2565a23 | 36 | accel_y_aver /= calibration_; |
yootee | 3:a9b4b2565a23 | 37 | accel_z_aver /= calibration_; |
yootee | 3:a9b4b2565a23 | 38 | double gyro_reg = hypot(hypot(accel_x_aver, accel_y_aver), accel_z_aver) / accel_z_aver; |
yootee | 3:a9b4b2565a23 | 39 | data[0] = FS_SEL; |
yootee | 3:a9b4b2565a23 | 40 | data[1] = bit << 3; |
yootee | 3:a9b4b2565a23 | 41 | i2c_.write(dev_id,data,2); |
yootee | 3:a9b4b2565a23 | 42 | gyro_LSB_ = GY521_LSB_MAP[bit_] / gyro_reg / user_reg; |
yootee | 3:a9b4b2565a23 | 43 | |
yootee | 3:a9b4b2565a23 | 44 | short gyro_z_now_; |
yootee | 3:a9b4b2565a23 | 45 | gyro_z_aver_ = 0; |
yootee | 3:a9b4b2565a23 | 46 | for (int i = 0; i < calibration_; ++i) { |
yootee | 3:a9b4b2565a23 | 47 | gyro_z_now_ = gyroRead2(GYRO_ZOUT_H); |
yootee | 3:a9b4b2565a23 | 48 | gyro_z_aver_ += gyro_z_now_; |
yootee | 3:a9b4b2565a23 | 49 | } |
yootee | 3:a9b4b2565a23 | 50 | gyro_z_aver_ /= calibration_; |
yootee | 3:a9b4b2565a23 | 51 | |
yootee | 3:a9b4b2565a23 | 52 | yaw = diff_yaw_ = 0; |
yootee | 3:a9b4b2565a23 | 53 | timer_.start(); |
yootee | 3:a9b4b2565a23 | 54 | flag_ = false; |
yootee | 3:a9b4b2565a23 | 55 | } |
yootee | 3:a9b4b2565a23 | 56 | |
yootee | 3:a9b4b2565a23 | 57 | void GY521::update(){ |
yootee | 3:a9b4b2565a23 | 58 | if(flag_){ |
yootee | 3:a9b4b2565a23 | 59 | return; |
yootee | 3:a9b4b2565a23 | 60 | } |
yootee | 3:a9b4b2565a23 | 61 | short gyro_z_now_ = gyroRead2(GYRO_ZOUT_H); |
yootee | 3:a9b4b2565a23 | 62 | gyro_z_now_ = ((double)gyro_z_now_ - gyro_z_aver_) / gyro_LSB_; |
yootee | 3:a9b4b2565a23 | 63 | diff_yaw_ = (gyro_z_now_ + gyro_z_prev_) / 2 * timer_.read(); |
yootee | 3:a9b4b2565a23 | 64 | timer_.reset(); |
yootee | 3:a9b4b2565a23 | 65 | yaw += diff_yaw_; |
yootee | 3:a9b4b2565a23 | 66 | gyro_z_prev_ = gyro_z_now_; |
yootee | 3:a9b4b2565a23 | 67 | //temp = (double)gyroRead2(TEMPERATURE)/340+36.53; |
yootee | 3:a9b4b2565a23 | 68 | if (yaw > 180) { |
yootee | 3:a9b4b2565a23 | 69 | yaw -= 360; |
yootee | 3:a9b4b2565a23 | 70 | } else if (yaw <= -180) { |
yootee | 3:a9b4b2565a23 | 71 | yaw += 360; |
yootee | 3:a9b4b2565a23 | 72 | } |
yootee | 3:a9b4b2565a23 | 73 | } |
yootee | 3:a9b4b2565a23 | 74 | |
yootee | 3:a9b4b2565a23 | 75 | void GY521::reset(int user){ |
yootee | 3:a9b4b2565a23 | 76 | yaw = user; |
yootee | 3:a9b4b2565a23 | 77 | short gyro_z_now_; |
yootee | 3:a9b4b2565a23 | 78 | flag_ = true; |
yootee | 3:a9b4b2565a23 | 79 | gyro_z_aver_ = 0; |
yootee | 3:a9b4b2565a23 | 80 | for (int i = 0; i < calibration_; i++) { |
yootee | 3:a9b4b2565a23 | 81 | gyro_z_now_ = gyroRead2(GYRO_ZOUT_H); |
yootee | 3:a9b4b2565a23 | 82 | gyro_z_aver_ += gyro_z_now_; |
yootee | 3:a9b4b2565a23 | 83 | } |
yootee | 3:a9b4b2565a23 | 84 | gyro_z_aver_ /= calibration_; |
yootee | 3:a9b4b2565a23 | 85 | flag_ = false; |
yootee | 3:a9b4b2565a23 | 86 | } |
yootee | 3:a9b4b2565a23 | 87 | |
yootee | 3:a9b4b2565a23 | 88 | double GY521::checkStatus(int mode) { |
yootee | 3:a9b4b2565a23 | 89 | if (mode == 0) { |
yootee | 3:a9b4b2565a23 | 90 | return gyro_LSB_; |
yootee | 3:a9b4b2565a23 | 91 | } else if (mode == 1) { |
yootee | 3:a9b4b2565a23 | 92 | return gyro_z_aver_; |
yootee | 3:a9b4b2565a23 | 93 | } else if (mode == 2) { |
yootee | 3:a9b4b2565a23 | 94 | return acos(gyro_LSB_ / GY521_LSB_MAP[bit_]); |
yootee | 3:a9b4b2565a23 | 95 | } |
yootee | 3:a9b4b2565a23 | 96 | return 0; |
yootee | 3:a9b4b2565a23 | 97 | } |
yootee | 3:a9b4b2565a23 | 98 | |
yootee | 3:a9b4b2565a23 | 99 | int16_t GY521::gyroRead2(enum GY521RegisterMap reg) { |
yootee | 3:a9b4b2565a23 | 100 | char data[2]; |
yootee | 3:a9b4b2565a23 | 101 | char addr = reg; |
yootee | 3:a9b4b2565a23 | 102 | i2c_.write(dev_id,&addr,1,true); |
yootee | 3:a9b4b2565a23 | 103 | i2c_.read(dev_id,data,2); |
yootee | 3:a9b4b2565a23 | 104 | return (data[0] << 8) + data[1]; |
yootee | 3:a9b4b2565a23 | 105 | } |