kopia lustrzana https://github.com/cyoung/stratux
Add ICM-20948 sensor module and detection.
rodzic
93de565e4b
commit
6d470ac0f8
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@ -19,6 +19,12 @@ const (
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numRetries uint8 = 5
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calCLimit = 0.15
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calDLimit = 10.0
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// WHO_AM_I values to differentiate between the different IMUs.
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MPUREG_WHO_AM_I = 0x75
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MPUREG_WHO_AM_I_VAL = 0x71 // Expected value.
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ICMREG_WHO_AM_I = 0x00
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ICMREG_WHO_AM_I_VAL = 0xEA // Expected value.
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)
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var (
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@ -123,13 +129,36 @@ func tempAndPressureSender() {
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}
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func initIMU() (ok bool) {
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imu, err := sensors.NewMPU9250(&i2cbus)
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if err == nil {
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myIMUReader = imu
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return true
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// Check if the chip is the ICM-20948 or MPU-9250.
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v, err := i2cbus.ReadByteFromReg(0x68, ICMREG_WHO_AM_I)
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if err != nil {
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log.Printf("Error identifying IMU: %s\n", err.Error())
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return false
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}
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v2, err := i2cbus.ReadByteFromReg(0x68, MPUREG_WHO_AM_I)
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if err != nil {
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log.Printf("Error identifying IMU: %s\n", err.Error())
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return false
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}
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// TODO westphae: try to connect to MPU9150 or other IMUs.
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if v == ICMREG_WHO_AM_I_VAL {
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log.Println("ICM-20948 detected.")
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imu, err := sensors.NewICM20948(&i2cbus)
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if err == nil {
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myIMUReader = imu
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return true
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}
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} else if v2 == MPUREG_WHO_AM_I_VAL {
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log.Println("MPU-9250 detected.")
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imu, err := sensors.NewMPU9250(&i2cbus)
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if err == nil {
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myIMUReader = imu
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return true
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}
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} else {
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log.Printf("Could not identify MPU. v=%02x, v2=%02x.\n", v, v2)
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return false
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}
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return false
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}
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@ -0,0 +1,98 @@
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// Package sensors provides a stratux interface to sensors used for AHRS calculations.
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package sensors
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import (
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"../goflying/icm20948"
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"github.com/kidoman/embd"
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)
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const (
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gyroRange = 250 // gyroRange is the default range to use for the Gyro.
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accelRange = 4 // accelRange is the default range to use for the Accel.
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updateFreq = 50 // updateFreq is the rate at which to update the sensor values.
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)
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// ICM20948 represents an InvenSense ICM-20948 attached to the I2C bus and satisfies
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// the IMUReader interface.
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type ICM20948 struct {
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mpu *icm20948.ICM20948
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}
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// NewICM20948 returns an instance of the ICM-20948 IMUReader, connected to an
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// ICM-20948 attached on the I2C bus with either valid address.
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func NewICM20948(i2cbus *embd.I2CBus) (*ICM20948, error) {
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var (
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m ICM20948
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mpu *icm20948.ICM20948
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err error
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)
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mpu, err = icm20948.NewICM20948(i2cbus, gyroRange, accelRange, updateFreq, true, false)
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if err != nil {
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return nil, err
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}
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// Set Gyro (Accel) LPFs to 25 Hz to filter out prop/glareshield vibrations above 1200 (1260) RPM
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mpu.SetGyroLPF(25)
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mpu.SetAccelLPF(25)
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m.mpu = mpu
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return &m, nil
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}
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// Read returns the average (since last reading) time, Gyro X-Y-Z, Accel X-Y-Z, Mag X-Y-Z,
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// error reading Gyro/Accel, and error reading Mag.
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func (m *ICM20948) Read() (T int64, G1, G2, G3, A1, A2, A3, M1, M2, M3 float64, GAError, MAGError error) {
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var (
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data *icm20948.MPUData
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i int8
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)
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data = new(icm20948.MPUData)
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for data.N == 0 && i < 5 {
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data = <-m.mpu.CAvg
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T = data.T.UnixNano()
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G1 = data.G1
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G2 = data.G2
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G3 = data.G3
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A1 = data.A1
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A2 = data.A2
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A3 = data.A3
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M1 = data.M1
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M2 = data.M2
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M3 = data.M3
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GAError = data.GAError
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MAGError = data.MagError
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i++
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}
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return
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}
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// ReadOne returns the most recent time, Gyro X-Y-Z, Accel X-Y-Z, Mag X-Y-Z,
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// error reading Gyro/Accel, and error reading Mag.
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func (m *ICM20948) ReadOne() (T int64, G1, G2, G3, A1, A2, A3, M1, M2, M3 float64, GAError, MAGError error) {
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var (
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data *icm20948.MPUData
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)
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data = new(icm20948.MPUData)
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data = <-m.mpu.C
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T = data.T.UnixNano()
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G1 = data.G1
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G2 = data.G2
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G3 = data.G3
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A1 = data.A1
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A2 = data.A2
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A3 = data.A3
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M1 = data.M1
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M2 = data.M2
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M3 = data.M3
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GAError = data.GAError
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MAGError = data.MagError
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return
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}
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// Close stops reading the MPU.
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func (m *ICM20948) Close() {
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m.mpu.CloseMPU()
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}
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@ -7,9 +7,9 @@ import (
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)
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const (
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gyroRange = 250 // gyroRange is the default range to use for the Gyro.
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accelRange = 4 // accelRange is the default range to use for the Accel.
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updateFreq = 50 // updateFreq is the rate at which to update the sensor values.
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mpu9250GyroRange = 250 // mpu9250GyroRange is the default range to use for the Gyro.
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mpu9250AccelRange = 4 // mpu9250AccelRange is the default range to use for the Accel.
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mpu9250UpdateFreq = 50 // mpu9250UpdateFreq is the rate at which to update the sensor values.
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)
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// MPU9250 represents an InvenSense MPU9250 attached to the I2C bus and satisfies
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@ -27,7 +27,7 @@ func NewMPU9250(i2cbus *embd.I2CBus) (*MPU9250, error) {
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err error
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)
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mpu, err = mpu9250.NewMPU9250(i2cbus, gyroRange, accelRange, updateFreq, true, false)
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mpu, err = mpu9250.NewMPU9250(i2cbus, mpu9250GyroRange, mpu9250AccelRange, mpu9250UpdateFreq, true, false)
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if err != nil {
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return nil, err
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}
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