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Fix IMU not work in some compiled environments
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Original file line number | Diff line number | Diff line change |
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@@ -0,0 +1,109 @@ | ||
#include "IMU.h" | ||
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#include <Arduino.h> | ||
#include <math.h> | ||
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#include "M5Stack.h" | ||
#undef IMU | ||
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IMU::IMU() { | ||
} | ||
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int IMU::Init(void) { | ||
int imu_flag = M5.Sh200Q.Init(); | ||
Serial.printf("imu_flag:%d", imu_flag); | ||
if (imu_flag != 0) { | ||
imu_flag = M5.Mpu6886.Init(); | ||
if (imu_flag == 0) { | ||
imuType = IMU_MPU6886; | ||
Serial.printf("IMU_MPU6886"); | ||
} else { | ||
imuType = IMU_UNKNOWN; | ||
Serial.printf("IMU_UNKNOWN"); | ||
return -1; | ||
} | ||
} else { | ||
imuType = IMU_SH200Q; | ||
} | ||
return 0; | ||
} | ||
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void IMU::getGres() { | ||
if (imuType == IMU_SH200Q) { | ||
gRes = M5.Sh200Q.gRes; | ||
} else if (imuType == IMU_MPU6886) { | ||
gRes = M5.Mpu6886.gRes; | ||
} | ||
} | ||
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void IMU::getAres() { | ||
if (imuType == IMU_SH200Q) { | ||
aRes = M5.Sh200Q.aRes; | ||
} else if (imuType == IMU_MPU6886) { | ||
aRes = M5.Mpu6886.aRes; | ||
} | ||
} | ||
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void IMU::getAccelAdc(int16_t *ax, int16_t *ay, int16_t *az) { | ||
if (imuType == IMU_SH200Q) { | ||
M5.Sh200Q.getAccelAdc(ax, ay, az); | ||
} else if (imuType == IMU_MPU6886) { | ||
M5.Mpu6886.getAccelAdc(ax, ay, az); | ||
} | ||
} | ||
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void IMU::getAccelData(float *ax, float *ay, float *az) { | ||
if (imuType == IMU_SH200Q) { | ||
M5.Sh200Q.getAccelData(ax, ay, az); | ||
} else if (imuType == IMU_MPU6886) { | ||
M5.Mpu6886.getAccelData(ax, ay, az); | ||
} | ||
} | ||
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void IMU::getGyroAdc(int16_t *gx, int16_t *gy, int16_t *gz) { | ||
if (imuType == IMU_SH200Q) { | ||
M5.Sh200Q.getGyroAdc(gx, gy, gz); | ||
} else if (imuType == IMU_MPU6886) { | ||
M5.Mpu6886.getGyroAdc(gx, gy, gz); | ||
} | ||
} | ||
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void IMU::getGyroData(float *gx, float *gy, float *gz) { | ||
if (imuType == IMU_SH200Q) { | ||
M5.Sh200Q.getGyroData(gx, gy, gz); | ||
} else if (imuType == IMU_MPU6886) { | ||
M5.Mpu6886.getGyroData(gx, gy, gz); | ||
} | ||
} | ||
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void IMU::getTempAdc(int16_t *t) { | ||
if (imuType == IMU_SH200Q) { | ||
M5.Sh200Q.getTempAdc(t); | ||
} else if (imuType == IMU_MPU6886) { | ||
M5.Mpu6886.getTempAdc(t); | ||
} | ||
} | ||
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void IMU::getTempData(float *t) { | ||
if (imuType == IMU_SH200Q) { | ||
M5.Sh200Q.getTempData(t); | ||
} else if (imuType == IMU_MPU6886) { | ||
M5.Mpu6886.getTempData(t); | ||
} | ||
} | ||
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void IMU::getAhrsData(float *pitch, float *roll, float *yaw) { | ||
float accX = 0; | ||
float accY = 0; | ||
float accZ = 0; | ||
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float gyroX = 0; | ||
float gyroY = 0; | ||
float gyroZ = 0; | ||
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getGyroData(&gyroX, &gyroY, &gyroZ); | ||
getAccelData(&accX, &accY, &accZ); | ||
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MahonyAHRSupdateIMU(gyroX * DEG_TO_RAD, gyroY * DEG_TO_RAD, | ||
gyroZ * DEG_TO_RAD, accX, accY, accZ, pitch, roll, yaw); | ||
} |
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,34 @@ | ||
#ifndef __IMU_H__ | ||
#define __IMU_H__ | ||
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#include <Arduino.h> | ||
#include <Wire.h> | ||
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#include "utility/MahonyAHRS.h" | ||
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class IMU { | ||
public: | ||
enum ImuType { IMU_UNKNOWN = 0, IMU_SH200Q, IMU_MPU6886 }; | ||
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IMU(); | ||
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int Init(void); | ||
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void getGres(); | ||
void getAres(); | ||
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void getAccelAdc(int16_t *ax, int16_t *ay, int16_t *az); | ||
void getGyroAdc(int16_t *gx, int16_t *gy, int16_t *gz); | ||
void getTempAdc(int16_t *t); | ||
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void getAccelData(float *ax, float *ay, float *az); | ||
void getGyroData(float *gx, float *gy, float *gz); | ||
void getTempData(float *t); | ||
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void getAhrsData(float *pitch, float *roll, float *yaw); | ||
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ImuType imuType; | ||
float aRes, gRes; | ||
}; | ||
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#endif |
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