61 lines
1.4 KiB
C++
61 lines
1.4 KiB
C++
/* use SparkFun BNO080 library (which uses stuff from Arduino) to get
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orientation of Complex Arts Sensorboard */
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#include "../arduino/SparkFun_BNO080_Arduino_Library.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "gyro.h"
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#include "espd.h"
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#ifdef PD_USE_GYRO
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/* IMU device */
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BNO080 myIMU;
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/* SPI device */
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SPIClass spiPort;
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uint32_t spiPortSpeed = 100*1000;
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/* IMU pins */
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byte imuCSPin = PIN_IMUCSP;
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byte imuWAKPin = PIN_IMUWAK;
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byte imuINTPin = PIN_IMUINT;
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byte imuRSTPin = PIN_IMURST;
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/* SPI pins */
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byte spiCLK = PIN_SPICLK;
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byte spiMISO = PIN_SPIMISO;
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byte spiMOSI = PIN_SPIMOSI;
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char TAG[] = "gyro";
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extern "C" void gyro_poll(void)
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{
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if (myIMU.dataAvailable() == true)
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{
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/* pd_sendgyro( myIMU.getRoll(), myIMU.getPitch(), myIMU.getYaw()); */
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pd_sendgyro(myIMU.getAccelX(), myIMU.getAccelY(), myIMU.getAccelZ());
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}
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}
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extern "C" int gyro_init(void)
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{
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/* initialize SPI interface for the BNO085 */
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spiPort.begin(spiCLK, spiMISO, spiMOSI, imuCSPin);
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/* initialize IMU */
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if (myIMU.beginSPI(imuCSPin, imuWAKPin, imuINTPin, imuRSTPin,
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spiPortSpeed, spiPort) == false)
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return (0);
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/* enable "rotation vector", readings will be produced every 50 ms */
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/* myIMU.enableRotationVector(50); */
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/* enable accelerometer */
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myIMU.enableAccelerometer(50);
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return (1);
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}
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#endif /* PD_USEGYRO */
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