kopia lustrzana https://github.com/cyoung/stratux
106 wiersze
2.4 KiB
Go
106 wiersze
2.4 KiB
Go
// 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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"log"
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"time"
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"../goflying/mpu9250"
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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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// MPU9250 represents an InvenSense MPU9250 attached to the I2C bus and satisfies
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// the IMUReader interface.
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type MPU9250 struct {
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mpu *mpu9250.MPU9250
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}
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// NewMPU9250 returns an instance of the MPU9250 IMUReader, connected to an
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// MPU9250 attached on the I2C bus with either valid address.
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func NewMPU9250() (*MPU9250, error) {
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var (
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m MPU9250
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mpu *mpu9250.MPU9250
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err error
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)
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log.Println("AHRS Info: Making new MPU9250")
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mpu, err = mpu9250.NewMPU9250(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 20 (21) Hz to filter out prop/glareshield vibrations above 1200 (1260) RPM
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log.Println("AHRS Info: Setting MPU9250 LPF")
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mpu.SetGyroLPF(21)
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mpu.SetAccelLPF(21)
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time.Sleep(100 * time.Millisecond)
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m.mpu = mpu
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log.Println("AHRS Info: monitoring IMU")
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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 *MPU9250) 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 *mpu9250.MPUData
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i int8
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)
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data = new(mpu9250.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 *MPU9250) 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 *mpu9250.MPUData
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)
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data = new(mpu9250.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 *MPU9250) Close() {
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m.mpu.CloseMPU()
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}
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