mirror of
https://github.com/bjoernellens1/cps_microros_imu.git
synced 2024-11-22 16:13:48 +00:00
400 lines
11 KiB
C++
400 lines
11 KiB
C++
// Copyright (c) 2021 Juan Miguel Jimeno
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef DEFAULT_IMU
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#define DEFAULT_IMU
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//include IMU base interface
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#include "imu_interface.h"
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//include sensor API headers
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#include "I2Cdev.h"
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#include "ADXL345.h"
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#include "ITG3200.h"
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#include "HMC5883L.h"
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#include "MPU6050.h"
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#include "MPU9150.h"
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#include "MPU9250.h"
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#include "MPU9250_WE.h"
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class GY85IMU: public IMUInterface
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{
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private:
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//constants specific to the sensor
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const float accel_scale_ = 1 / 256.0;
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const float gyro_scale_ = 1 / 14.375;
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// driver objects to be used
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ADXL345 accelerometer_;
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ITG3200 gyroscope_;
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// returned vector for sensor reading
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geometry_msgs__msg__Vector3 accel_;
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geometry_msgs__msg__Vector3 gyro_;
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public:
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GY85IMU()
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{
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// accel_cov_ = 0.001; //you can overwrite the convariance values here
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// gyro_cov_ = 0.001; //you can overwrite the convariance values here
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}
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bool startSensor() override
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{
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// here you can override startSensor() function and use the sensor's driver API
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// to initialize and test the sensor's connection during boot time
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Wire.begin();
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bool ret;
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accelerometer_.initialize();
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ret = accelerometer_.testConnection();
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if(!ret)
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return false;
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gyroscope_.initialize();
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ret = gyroscope_.testConnection();
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if(!ret)
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return false;
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return true;
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}
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geometry_msgs__msg__Vector3 readAccelerometer() override
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{
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// here you can override readAccelerometer function and use the sensor's driver API
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// to grab the data from accelerometer and return as a Vector3 object
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int16_t ax, ay, az;
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accelerometer_.getAcceleration(&ax, &ay, &az);
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accel_.x = ax * (double) accel_scale_ * g_to_accel_;
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accel_.y = ay * (double) accel_scale_ * g_to_accel_;
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accel_.z = az * (double) accel_scale_ * g_to_accel_;
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return accel_;
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}
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geometry_msgs__msg__Vector3 readGyroscope() override
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{
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// here you can override readAccelerometer function and use the sensor's driver API
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// to grab the data from gyroscope and return as a Vector3 object
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int16_t gx, gy, gz;
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gyroscope_.getRotation(&gx, &gy, &gz);
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gyro_.x = gx * (double) gyro_scale_ * DEG_TO_RAD;
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gyro_.y = gy * (double) gyro_scale_ * DEG_TO_RAD;
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gyro_.z = gz * (double) gyro_scale_ * DEG_TO_RAD;
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return gyro_;
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}
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};
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class MPU6050IMU: public IMUInterface
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{
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private:
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const float accel_scale_ = 1 / 16384.0;
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const float gyro_scale_ = 1 / 131.0;
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MPU6050 accelerometer_;
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MPU6050 gyroscope_;
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geometry_msgs__msg__Vector3 accel_;
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geometry_msgs__msg__Vector3 gyro_;
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public:
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MPU6050IMU()
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{
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}
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bool startSensor() override
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{
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Wire.begin();
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bool ret;
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accelerometer_.initialize();
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ret = accelerometer_.testConnection();
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if(!ret)
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return false;
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gyroscope_.initialize();
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ret = gyroscope_.testConnection();
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if(!ret)
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return false;
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return true;
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}
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geometry_msgs__msg__Vector3 readAccelerometer() override
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{
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int16_t ax, ay, az;
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accelerometer_.getAcceleration(&ax, &ay, &az);
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accel_.x = ax * (double) accel_scale_ * g_to_accel_;
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accel_.y = ay * (double) accel_scale_ * g_to_accel_;
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accel_.z = az * (double) accel_scale_ * g_to_accel_;
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return accel_;
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}
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geometry_msgs__msg__Vector3 readGyroscope() override
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{
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int16_t gx, gy, gz;
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gyroscope_.getRotation(&gx, &gy, &gz);
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gyro_.x = gx * (double) gyro_scale_ * DEG_TO_RAD;
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gyro_.y = gy * (double) gyro_scale_ * DEG_TO_RAD;
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gyro_.z = gz * (double) gyro_scale_ * DEG_TO_RAD;
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return gyro_;
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}
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};
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class MPU9150IMU: public IMUInterface
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{
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private:
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const float accel_scale_ = 1 / 16384.0;
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const float gyro_scale_ = 1 / 131.0;
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MPU9150 accelerometer_;
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MPU9150 gyroscope_;
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geometry_msgs__msg__Vector3 accel_;
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geometry_msgs__msg__Vector3 gyro_;
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public:
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MPU9150IMU()
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{
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}
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bool startSensor() override
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{
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Wire.begin();
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bool ret;
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accelerometer_.initialize();
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ret = accelerometer_.testConnection();
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if(!ret)
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return false;
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gyroscope_.initialize();
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ret = gyroscope_.testConnection();
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if(!ret)
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return false;
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return true;
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}
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geometry_msgs__msg__Vector3 readAccelerometer() override
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{
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int16_t ax, ay, az;
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accelerometer_.getAcceleration(&ax, &ay, &az);
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accel_.x = ax * (double) accel_scale_ * g_to_accel_;
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accel_.y = ay * (double) accel_scale_ * g_to_accel_;
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accel_.z = az * (double) accel_scale_ * g_to_accel_;
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return accel_;
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}
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geometry_msgs__msg__Vector3 readGyroscope() override
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{
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int16_t gx, gy, gz;
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gyroscope_.getRotation(&gx, &gy, &gz);
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gyro_.x = gx * (double) gyro_scale_ * DEG_TO_RAD;
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gyro_.y = gy * (double) gyro_scale_ * DEG_TO_RAD;
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gyro_.z = gz * (double) gyro_scale_ * DEG_TO_RAD;
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return gyro_;
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}
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};
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class MPU9250IMU: public IMUInterface
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{
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private:
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const float accel_scale_ = 1 / 16384.0;
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const float gyro_scale_ = 1 / 131.0;
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MPU9250 accelerometer_;
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MPU9250 gyroscope_;
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geometry_msgs__msg__Vector3 accel_;
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geometry_msgs__msg__Vector3 gyro_;
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public:
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MPU9250IMU()
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{
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}
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bool startSensor() override
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{
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Wire.begin();
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bool ret;
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accelerometer_.initialize();
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ret = accelerometer_.testConnection();
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if(!ret)
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return false;
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gyroscope_.initialize();
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ret = gyroscope_.testConnection();
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if(!ret)
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return false;
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return true;
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}
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geometry_msgs__msg__Vector3 readAccelerometer() override
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{
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int16_t ax, ay, az;
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accelerometer_.getAcceleration(&ax, &ay, &az);
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accel_.x = ax * (double) accel_scale_ * g_to_accel_;
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accel_.y = ay * (double) accel_scale_ * g_to_accel_;
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accel_.z = az * (double) accel_scale_ * g_to_accel_;
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return accel_;
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}
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geometry_msgs__msg__Vector3 readGyroscope() override
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{
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int16_t gx, gy, gz;
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gyroscope_.getRotation(&gx, &gy, &gz);
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gyro_.x = gx * (double) gyro_scale_ * DEG_TO_RAD;
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gyro_.y = gy * (double) gyro_scale_ * DEG_TO_RAD;
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gyro_.z = gz * (double) gyro_scale_ * DEG_TO_RAD;
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return gyro_;
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}
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};
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class MPU9250IMU_WE: public IMUInterface
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{
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private:
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const float accel_scale_ = 1 / 16384.0;
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const float gyro_scale_ = 1 / 131.0;
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MPU9250_WE accelerometer_;
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MPU9250_WE gyroscope_;
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geometry_msgs__msg__Vector3 accel_;
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geometry_msgs__msg__Vector3 gyro_;
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public:
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MPU9250IMU_WE()
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{
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}
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bool startSensor() override
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{
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Wire.begin();
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bool ret;
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accelerometer_.init();
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ret = accelerometer_.init();
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if(!ret)
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return false;
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gyroscope_.init();
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ret = gyroscope_.init();
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if(!ret)
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return false;
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return true;
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}
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geometry_msgs__msg__Vector3 readAccelerometer() override
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{
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//int16_t ax, ay, az;
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xyzFloat xyz_Gval = accelerometer_.getGValues();
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// ax = static_cast<int>(xyz_Gval.x); // Convert x to an integer
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// ay = static_cast<int>(xyz_Gval.y); // Convert y to an integer
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// az = static_cast<int>(xyz_Gval.z); // Convert z to an integer
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float ax = xyz_Gval.x; // Convert x to an integer
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float ay = xyz_Gval.y; // Convert y to an integer
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float az = xyz_Gval.z; // Convert z to an integer
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accel_.x = ax * (double) accel_scale_ * g_to_accel_;
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accel_.y = ay * (double) accel_scale_ * g_to_accel_;
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accel_.z = az * (double) accel_scale_ * g_to_accel_;
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return accel_;
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}
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geometry_msgs__msg__Vector3 readGyroscope() override
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{
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//int16_t gx, gy, gz;
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xyzFloat xyz_gyr = gyroscope_.getGyrValues();
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// gx = static_cast<int>(xyz_gyr.x); // Convert x to an integer
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// gy = static_cast<int>(xyz_gyr.y); // Convert y to an integer
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// gz = static_cast<int>(xyz_gyr.z); // Convert z to an integer
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float gx = xyz_gyr.x; // Convert x to an integer
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float gy = xyz_gyr.y; // Convert y to an integer
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float gz = xyz_gyr.z; // Convert z to an integer
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gyro_.x = gx * (double) gyro_scale_ * DEG_TO_RAD;
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gyro_.y = gy * (double) gyro_scale_ * DEG_TO_RAD;
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gyro_.z = gz * (double) gyro_scale_ * DEG_TO_RAD;
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return gyro_;
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}
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};
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class FakeIMU: public IMUInterface
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{
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private:
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geometry_msgs__msg__Vector3 accel_;
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geometry_msgs__msg__Vector3 gyro_;
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public:
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FakeIMU()
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{
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}
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bool startSensor() override
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{
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return true;
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}
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geometry_msgs__msg__Vector3 readAccelerometer() override
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{
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return accel_;
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}
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geometry_msgs__msg__Vector3 readGyroscope() override
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{
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return gyro_;
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}
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};
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#endif
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//ADXL345 https://www.sparkfun.com/datasheets/Sensors/Accelerometer/ADXL345.pdf
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//HMC8553L https://cdn-shop.adafruit.com/datasheets/HMC5883L_3-Axis_Digital_Compass_IC.pdf
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//ITG320 https://www.sparkfun.com/datasheets/Sensors/Gyro/PS-ITG-3200-00-01.4.pdf
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//MPU9150 https://www.invensense.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf
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//MPU9250 https://www.invensense.com/wp-content/uploads/2015/02/MPU-9150-Datasheet.pdf
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//MPU6050 https://store.invensense.com/datasheets/invensense/MPU-6050_DataSheet_V3%204.pdf
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//http://www.sureshjoshi.com/embedded/invensense-imus-what-to-know/
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//https://stackoverflow.com/questions/19161872/meaning-of-lsb-unit-and-unit-lsb
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