kopia lustrzana https://github.com/cyoung/stratux
99 wiersze
2.3 KiB
Go
99 wiersze
2.3 KiB
Go
// Package sensors provides a stratux interface to sensors used for AHRS calculations.
|
|
package sensors
|
|
|
|
import (
|
|
"../goflying/icm20948"
|
|
"github.com/kidoman/embd"
|
|
)
|
|
|
|
const (
|
|
gyroRange = 250 // gyroRange is the default range to use for the Gyro.
|
|
accelRange = 4 // accelRange is the default range to use for the Accel.
|
|
updateFreq = 50 // updateFreq is the rate at which to update the sensor values.
|
|
)
|
|
|
|
// ICM20948 represents an InvenSense ICM-20948 attached to the I2C bus and satisfies
|
|
// the IMUReader interface.
|
|
type ICM20948 struct {
|
|
mpu *icm20948.ICM20948
|
|
}
|
|
|
|
// NewICM20948 returns an instance of the ICM-20948 IMUReader, connected to an
|
|
// ICM-20948 attached on the I2C bus with either valid address.
|
|
func NewICM20948(i2cbus *embd.I2CBus) (*ICM20948, error) {
|
|
var (
|
|
m ICM20948
|
|
mpu *icm20948.ICM20948
|
|
err error
|
|
)
|
|
|
|
mpu, err = icm20948.NewICM20948(i2cbus, gyroRange, accelRange, updateFreq, true, false)
|
|
if err != nil {
|
|
return nil, err
|
|
}
|
|
|
|
// Set Gyro (Accel) LPFs to 25 Hz to filter out prop/glareshield vibrations above 1200 (1260) RPM
|
|
mpu.SetGyroLPF(25)
|
|
mpu.SetAccelLPF(25)
|
|
|
|
m.mpu = mpu
|
|
return &m, nil
|
|
}
|
|
|
|
// Read returns the average (since last reading) time, Gyro X-Y-Z, Accel X-Y-Z, Mag X-Y-Z,
|
|
// error reading Gyro/Accel, and error reading Mag.
|
|
func (m *ICM20948) Read() (T int64, G1, G2, G3, A1, A2, A3, M1, M2, M3 float64, GAError, MAGError error) {
|
|
var (
|
|
data *icm20948.MPUData
|
|
i int8
|
|
)
|
|
data = new(icm20948.MPUData)
|
|
|
|
for data.N == 0 && i < 5 {
|
|
data = <-m.mpu.CAvg
|
|
T = data.T.UnixNano()
|
|
G1 = data.G1
|
|
G2 = data.G2
|
|
G3 = data.G3
|
|
A1 = data.A1
|
|
A2 = data.A2
|
|
A3 = data.A3
|
|
M1 = data.M1
|
|
M2 = data.M2
|
|
M3 = data.M3
|
|
GAError = data.GAError
|
|
MAGError = data.MagError
|
|
i++
|
|
}
|
|
return
|
|
}
|
|
|
|
// ReadOne returns the most recent time, Gyro X-Y-Z, Accel X-Y-Z, Mag X-Y-Z,
|
|
// error reading Gyro/Accel, and error reading Mag.
|
|
func (m *ICM20948) ReadOne() (T int64, G1, G2, G3, A1, A2, A3, M1, M2, M3 float64, GAError, MAGError error) {
|
|
var (
|
|
data *icm20948.MPUData
|
|
)
|
|
data = new(icm20948.MPUData)
|
|
|
|
data = <-m.mpu.C
|
|
T = data.T.UnixNano()
|
|
G1 = data.G1
|
|
G2 = data.G2
|
|
G3 = data.G3
|
|
A1 = data.A1
|
|
A2 = data.A2
|
|
A3 = data.A3
|
|
M1 = data.M1
|
|
M2 = data.M2
|
|
M3 = data.M3
|
|
GAError = data.GAError
|
|
MAGError = data.MagError
|
|
return
|
|
}
|
|
|
|
// Close stops reading the MPU.
|
|
func (m *ICM20948) Close() {
|
|
m.mpu.CloseMPU()
|
|
}
|