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Code Issues 76 Packages Projects Releases Wiki Activity

Minor cleanup for different sensors

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Eiren Rain
2021-03-06 04:27:22 +03:00
parent 9e189d7bb0
commit 133517fea7
4 changed files with 43 additions and 13 deletions
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1
src/configuration.h
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@@ -18,6 +18,7 @@ struct CalibrationConfig {
struct DeviceConfig {
CalibrationConfig calibration;
int deviceId;
int deviceMode;
};
void initializeConfig();

23
src/defines.h
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@@ -14,6 +14,29 @@
SDA/SCL to Pin4 and Pin5 of Adafruit Huzzah, respectively
*/
#define IMU_MPU9250 1
#define IMU_MPU6500 2
#define IMU_BNO080 3
#define IMU IMU_BNO080
#if IMU == IMU_BNO080
#define IMU_NAME "BNO080"
#define IMU_HAS_ACCELL true
#define IMU_HAS_GYRO true
#define IMU_HAS_MAG true
#elif IMU == IMU_MPU9250
#define IMU_NAME "MPU9250"
#define IMU_HAS_ACCELL true
#define IMU_HAS_GYRO true
#define IMU_HAS_MAG true
#elif IMU == IMU_MPU6500
#define IMU_NAME "MPU6500"
#define IMU_HAS_ACCELL true
#define IMU_HAS_GYRO true
#define IMU_HAS_MAG false
#endif
///////////////////////////////////////////////////////////////////
//Debug information
///////////////////////////////////////////////////////////////////

8
src/main.cpp
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@@ -26,7 +26,13 @@
#include "defines.h"
#include "credentials.h"
BNO080Sensor sensor{};
#if IMU == IMU_BNO080
BNO080Sensor sensor{};
#elif IMU == IMU_MPU9250
MPU9250Sensor sensor{};
#elif IMU == IMU_MPU6500
MPU6050Sensor sensor{};
#endif
DeviceConfig config{};
bool isCalibrating = false;

24
src/sensor.h
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@@ -24,10 +24,10 @@ class BNO080Sensor : public Sensor {
public:
BNO080Sensor() = default;
~BNO080Sensor() override = default;
void motionSetup(DeviceConfig * config) final;
void motionLoop() final;
void sendData() final;
void startCalibration(int calibrationType) final;
void motionSetup(DeviceConfig * config) override final;
void motionLoop() override final;
void sendData() override final;
void startCalibration(int calibrationType) override final;
private:
BNO080 imu {};
bool newData {false};
@@ -46,10 +46,10 @@ class MPU6050Sensor : public MPUSensor {
public:
MPU6050Sensor() = default;
~MPU6050Sensor() override = default;
void motionSetup(DeviceConfig * config) final;
void motionLoop() final;
void sendData() final;
void startCalibration(int calibrationType) final;
void motionSetup(DeviceConfig * config) override final;
void motionLoop() override final;
void sendData() override final;
void startCalibration(int calibrationType) override final;
private:
Quaternion rawQuat {};
// MPU dmp control/status vars
@@ -65,10 +65,10 @@ class MPU9250Sensor : public MPUSensor {
public:
MPU9250Sensor() = default;
~MPU9250Sensor() override = default;
void motionSetup(DeviceConfig * config) final;
void motionLoop() final;
void sendData() final;
void startCalibration(int calibrationType) final;
void motionSetup(DeviceConfig * config) override final;
void motionLoop() override final;
void sendData() override final;
void startCalibration(int calibrationType) override final;
void getMPUScaled();
void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz, float deltat);
private: