281 lines
6.6 KiB
C++
Executable File
281 lines
6.6 KiB
C++
Executable File
#include "MPU6886.h"
|
||
#include <math.h>
|
||
#include <Arduino.h>
|
||
|
||
void MPU6886::I2C_Read_NBytes(uint8_t driver_Addr, uint8_t start_Addr, uint8_t number_Bytes, uint8_t *read_Buffer){
|
||
|
||
myWire.beginTransmission(driver_Addr);
|
||
myWire.write(start_Addr);
|
||
myWire.endTransmission(false);
|
||
uint8_t i = 0;
|
||
myWire.requestFrom(driver_Addr,number_Bytes);
|
||
|
||
//! Put read results in the Rx buffer
|
||
while (myWire.available()) {
|
||
read_Buffer[i++] = myWire.read();
|
||
}
|
||
}
|
||
|
||
void MPU6886::I2C_Write_NBytes(uint8_t driver_Addr, uint8_t start_Addr, uint8_t number_Bytes, uint8_t *write_Buffer){
|
||
|
||
myWire.beginTransmission(driver_Addr);
|
||
myWire.write(start_Addr);
|
||
myWire.write(*write_Buffer);
|
||
myWire.endTransmission();
|
||
|
||
}
|
||
|
||
int MPU6886::Init(void){
|
||
unsigned char tempdata[1];
|
||
unsigned char regdata;
|
||
|
||
I2C_Read_NBytes(MPU6886_ADDRESS, MPU6886_WHOAMI, 1, tempdata);
|
||
if(tempdata[0] != 0x19)
|
||
return -1;
|
||
delay(1);
|
||
|
||
regdata = 0x00;
|
||
I2C_Write_NBytes(MPU6886_ADDRESS, MPU6886_PWR_MGMT_1, 1, ®data);
|
||
delay(10);
|
||
|
||
regdata = (0x01<<7);
|
||
I2C_Write_NBytes(MPU6886_ADDRESS, MPU6886_PWR_MGMT_1, 1, ®data);
|
||
delay(10);
|
||
|
||
regdata = (0x01<<0);
|
||
I2C_Write_NBytes(MPU6886_ADDRESS, MPU6886_PWR_MGMT_1, 1, ®data);
|
||
delay(10);
|
||
|
||
regdata = 0x10; // AFS_8G
|
||
I2C_Write_NBytes(MPU6886_ADDRESS, MPU6886_ACCEL_CONFIG, 1, ®data);
|
||
delay(1);
|
||
|
||
regdata = 0x18; // GFS_2000DPS
|
||
I2C_Write_NBytes(MPU6886_ADDRESS, MPU6886_GYRO_CONFIG, 1, ®data);
|
||
delay(1);
|
||
|
||
regdata = 0x01;
|
||
I2C_Write_NBytes(MPU6886_ADDRESS, MPU6886_CONFIG, 1, ®data);
|
||
delay(1);
|
||
|
||
regdata = 0x05;
|
||
I2C_Write_NBytes(MPU6886_ADDRESS, MPU6886_SMPLRT_DIV, 1,®data);
|
||
delay(1);
|
||
|
||
regdata = 0x00;
|
||
I2C_Write_NBytes(MPU6886_ADDRESS, MPU6886_INT_ENABLE, 1, ®data);
|
||
delay(1);
|
||
|
||
regdata = 0x00;
|
||
I2C_Write_NBytes(MPU6886_ADDRESS, MPU6886_ACCEL_CONFIG2, 1, ®data);
|
||
delay(1);
|
||
|
||
regdata = 0x00;
|
||
I2C_Write_NBytes(MPU6886_ADDRESS, MPU6886_USER_CTRL, 1, ®data);
|
||
delay(1);
|
||
|
||
regdata = 0x00;
|
||
I2C_Write_NBytes(MPU6886_ADDRESS, MPU6886_FIFO_EN, 1, ®data);
|
||
delay(1);
|
||
|
||
regdata = 0x22;
|
||
I2C_Write_NBytes(MPU6886_ADDRESS, MPU6886_INT_PIN_CFG, 1, ®data);
|
||
delay(1);
|
||
|
||
regdata = 0x01;
|
||
I2C_Write_NBytes(MPU6886_ADDRESS, MPU6886_INT_ENABLE, 1, ®data);
|
||
|
||
delay(100);
|
||
getGres();
|
||
getAres();
|
||
return 0;
|
||
}
|
||
|
||
void MPU6886::getAccelAdc(int16_t* ax, int16_t* ay, int16_t* az){
|
||
|
||
uint8_t buf[6];
|
||
I2C_Read_NBytes(MPU6886_ADDRESS,MPU6886_ACCEL_XOUT_H,6,buf);
|
||
|
||
*ax=((int16_t)buf[0]<<8)|buf[1];
|
||
*ay=((int16_t)buf[2]<<8)|buf[3];
|
||
*az=((int16_t)buf[4]<<8)|buf[5];
|
||
|
||
}
|
||
void MPU6886::getGyroAdc(int16_t* gx, int16_t* gy, int16_t* gz){
|
||
|
||
uint8_t buf[6];
|
||
I2C_Read_NBytes(MPU6886_ADDRESS,MPU6886_GYRO_XOUT_H,6,buf);
|
||
|
||
*gx=((uint16_t)buf[0]<<8)|buf[1];
|
||
*gy=((uint16_t)buf[2]<<8)|buf[3];
|
||
*gz=((uint16_t)buf[4]<<8)|buf[5];
|
||
|
||
}
|
||
|
||
void MPU6886::getTempAdc(int16_t *t){
|
||
|
||
uint8_t buf[2];
|
||
I2C_Read_NBytes(MPU6886_ADDRESS,MPU6886_TEMP_OUT_H,2,buf);
|
||
|
||
*t=((uint16_t)buf[0]<<8)|buf[1];
|
||
}
|
||
|
||
|
||
|
||
// //!俯仰，航向，横滚：pitch，yaw，roll，指三维空间中飞行器的旋转状态。
|
||
// void MPU6886::getAhrsData(float *pitch,float *roll,float *yaw){
|
||
|
||
// float accX = 0;
|
||
// float accY = 0;
|
||
// float accZ = 0;
|
||
|
||
// float gyroX = 0;
|
||
// float gyroY = 0;
|
||
// float gyroZ = 0;
|
||
|
||
|
||
// getGyroData(&gyroX,&gyroY,&gyroZ);
|
||
// getAccelData(&accX,&accY,&accZ);
|
||
|
||
// MahonyAHRSupdateIMU(gyroX * DEG_TO_RAD, gyroY * DEG_TO_RAD, gyroZ * DEG_TO_RAD, accX, accY, accZ,pitch,roll,yaw);
|
||
|
||
// }
|
||
|
||
void MPU6886::getGres(){
|
||
|
||
switch (Gyscale)
|
||
{
|
||
// Possible gyro scales (and their register bit settings) are:
|
||
case GFS_250DPS:
|
||
gRes = 250.0f/32768.0f;
|
||
gyRange = 250;
|
||
break;
|
||
case GFS_500DPS:
|
||
gRes = 500.0f/32768.0f;
|
||
gyRange = 500;
|
||
break;
|
||
case GFS_1000DPS:
|
||
gRes = 1000.0f/32768.0f;
|
||
gyRange = 1000;
|
||
break;
|
||
case GFS_2000DPS:
|
||
gRes = 2000.0f/32768.0f;
|
||
gyRange = 2000;
|
||
break;
|
||
}
|
||
|
||
}
|
||
|
||
|
||
void MPU6886::getAres(){
|
||
switch (Acscale)
|
||
{
|
||
// Possible accelerometer scales (and their register bit settings) are:
|
||
// 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11).
|
||
// Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
|
||
case AFS_2G:
|
||
aRes = 2.0/32768.0;
|
||
acRange = 2000;
|
||
break;
|
||
case AFS_4G:
|
||
aRes = 4.0/32768.0;
|
||
acRange = 4000;
|
||
break;
|
||
case AFS_8G:
|
||
aRes = 8.0/32768.0;
|
||
acRange = 8000;
|
||
break;
|
||
case AFS_16G:
|
||
aRes = 16.0/32768.0;
|
||
acRange = 16000;
|
||
break;
|
||
}
|
||
|
||
}
|
||
|
||
void MPU6886::SetGyroFsr(Gscale scale)
|
||
{
|
||
//return IIC_Write_Byte(MPU_GYRO_CFG_REG,scale<<3);//设置陀螺仪满量程范围
|
||
unsigned char regdata;
|
||
regdata = (scale<<3);
|
||
I2C_Write_NBytes(MPU6886_ADDRESS, MPU6886_GYRO_CONFIG, 1, ®data);
|
||
delay(10);
|
||
|
||
Gyscale = scale;
|
||
getGres();
|
||
}
|
||
|
||
void MPU6886::SetAccelFsr(Ascale scale)
|
||
{
|
||
unsigned char regdata;
|
||
regdata = (scale<<3);
|
||
I2C_Write_NBytes(MPU6886_ADDRESS, MPU6886_ACCEL_CONFIG, 1, ®data);
|
||
delay(10);
|
||
|
||
Acscale = scale;
|
||
getAres();
|
||
}
|
||
|
||
|
||
// x/y/z are in 1/1000 if g
|
||
// avoiding costly float calculations
|
||
void MPU6886::getAccelDataInt(int16_t* ax, int16_t* ay, int16_t* az) {
|
||
int16_t accX = 0;
|
||
int16_t accY = 0;
|
||
int16_t accZ = 0;
|
||
getAccelAdc(&accX, &accY, &accZ);
|
||
|
||
if (ax != nullptr) { *ax = ((int32_t)accX * acRange) / 0x7FFFL; }
|
||
if (ay != nullptr) { *ay = ((int32_t)accY * acRange) / 0x7FFFL; }
|
||
if (az != nullptr) { *az = ((int32_t)accZ * acRange) / 0x7FFFL; }
|
||
|
||
}
|
||
|
||
void MPU6886::getAccelData(float* ax, float* ay, float* az){
|
||
|
||
|
||
int16_t accX = 0;
|
||
int16_t accY = 0;
|
||
int16_t accZ = 0;
|
||
getAccelAdc(&accX,&accY,&accZ);
|
||
|
||
|
||
*ax = (float)accX * aRes;
|
||
*ay = (float)accY * aRes;
|
||
*az = (float)accZ * aRes;
|
||
|
||
}
|
||
|
||
// x/y/z are in dps - degrees per second
|
||
// avoiding costly float calculations
|
||
void MPU6886::getGyroDataInt(int16_t* ax, int16_t* ay, int16_t* az) {
|
||
int16_t gyX = 0;
|
||
int16_t gyY = 0;
|
||
int16_t gyZ = 0;
|
||
getGyroAdc(&gyX, &gyY, &gyZ);
|
||
|
||
if (ax != nullptr) { *ax = ((int32_t)gyX * gyRange) / 0x7FFFL; }
|
||
if (ay != nullptr) { *ay = ((int32_t)gyY * gyRange) / 0x7FFFL; }
|
||
if (az != nullptr) { *az = ((int32_t)gyZ * gyRange) / 0x7FFFL; }
|
||
|
||
}
|
||
|
||
void MPU6886::getGyroData(float* gx, float* gy, float* gz){
|
||
int16_t gyroX = 0;
|
||
int16_t gyroY = 0;
|
||
int16_t gyroZ = 0;
|
||
getGyroAdc(&gyroX,&gyroY,&gyroZ);
|
||
|
||
*gx = (float)gyroX * gRes;
|
||
*gy = (float)gyroY * gRes;
|
||
*gz = (float)gyroZ * gRes;
|
||
}
|
||
|
||
void MPU6886::getTempData(float *t){
|
||
|
||
int16_t temp = 0;
|
||
getTempAdc(&temp);
|
||
|
||
*t = (float)temp / 326.8 + 25.0;
|
||
}
|