1 files changed, 354 insertions, 0 deletions
diff --git a/src/sensor.cpp b/src/sensor.cpp
new file mode 100644
index 0000000..e3a2551
--- /dev/null
+++ b/src/sensor.cpp
@@ -0,0 +1,354 @@
+#include "sensor.hpp"
+#include "math.h"
+#include "sensor_registers.hpp"
+
+Sensor::Sensor(uint8_t address, TwoWire *wire)
+{
+	_address = address;
+	_wire = wire;
+
+	// Set default values
+	accel_cal_x = 0;
+	accel_cal_y = 0;
+	accel_cal_z = 0;
+
+	gyro_cal_x = 0;
+	gyro_cal_y = 0;
+	gyro_cal_z = 0;
+
+	_throttle_enabled = true;
+	_throttleTime = DEFAULT_THROTTLE_TIME;
+
+	_lastTime = 0;
+	_lastMicros = 0;
+
+	_status = SENSOR_OK;
+
+	_accel_sensitivity = 0;
+	_accel_to_g_force = 1.0 / 16384.0;
+
+	_gyro_sensitivity = 0;
+	_ang_rate_to_dps = 1.0 / 131.0;
+
+	_temperature = 0;
+
+	// Reset the sensor
+	reset();
+}
+
+bool Sensor::begin()
+{
+	_wire->begin();
+
+	if (isConnected())
+	{
+		_wire->beginTransmission(_address);
+		_wire->write(SENSOR_PWR_MGMT_1);
+		_wire->write(SENSOR_WAKEUP);
+
+		return (_wire->endTransmission() == 0);
+	}
+
+	return false;
+}
+
+bool Sensor::isConnected()
+{
+	_wire->beginTransmission(_address);
+	return (_wire->endTransmission() == 0);
+}
+
+void Sensor::reset()
+{
+	setThrottleTime(DEFAULT_THROTTLE_TIME);
+
+	_accel_raw_x = 0;
+	_accel_raw_y = 0;
+	_accel_raw_z = 0;
+
+	_gyro_raw_x = 0;
+	_gyro_raw_y = 0;
+	_gyro_raw_z = 0;
+
+	_accel_x = 0;
+	_accel_y = 0;
+	_accel_z = 0;
+
+	_pitch = 0;
+	_roll = 0;
+	_yaw = 0;
+}
+
+void Sensor::setThrottleEnabled(bool throttle = true)
+{
+	_throttle_enabled = throttle;
+};
+
+bool Sensor::getThrottleEnabled()
+{
+	return _throttle_enabled;
+};
+
+void Sensor::setThrottleTime(uint16_t time_ms)
+{
+	_throttleTime = time_ms;
+};
+
+uint16_t Sensor::getThrottleTime()
+{
+	return _throttleTime;
+};
+
+int16_t Sensor::read()
+{
+	auto time_now = millis();
+
+	if (_throttle_enabled)
+	{
+		if ((time_now - _lastTime) < _throttleTime)
+		{
+			return SENSOR_THROTTLED;
+		}
+	}
+
+	_lastTime = time_now;
+
+	_wire->beginTransmission(_address);
+	_wire->write(SENSOR_ACCEL_XOUT_H);
+
+	if (_wire->endTransmission() != 0)
+	{
+		_status = SENSOR_ERR_WRITE;
+		return _status;
+	}
+
+	int8_t response_length = _wire->requestFrom(_address, (uint8_t)14);
+
+	if (response_length != 14)
+	{
+		_status = SENSOR_ERR_READ;
+		return _status;
+	}
+
+	// ACCELEROMETER
+	_accel_raw_x = _readTwoBytes(); // ACCEL_XOUT_H  ACCEL_XOUT_L
+	_accel_raw_y = _readTwoBytes(); // ACCEL_YOUT_H  ACCEL_YOUT_L
+	_accel_raw_z = _readTwoBytes(); // ACCEL_ZOUT_H  ACCEL_ZOUT_L
+
+	// TEMPERATURE
+	_temperature = _readTwoBytes(); // TEMP_OUT_H    TEMP_OUT_L
+
+	// GYROSCOPE
+	_gyro_raw_x = _readTwoBytes(); // GYRO_XOUT_H   GYRO_XOUT_L
+	_gyro_raw_y = _readTwoBytes(); // GYRO_YOUT_H   GYRO_YOUT_L
+	_gyro_raw_z = _readTwoBytes(); // GYRO_ZOUT_H   GYRO_ZOUT_L
+
+	// Duration interval
+	time_now = micros();
+	float duration = (time_now - _lastMicros) * 1e-6; // Duration in seconds.
+	_lastMicros = time_now;
+
+	// Convert raw acceleration to g:s (g-force)
+	_accel_raw_x *= _accel_to_g_force;
+	_accel_raw_y *= _accel_to_g_force;
+	_accel_raw_z *= _accel_to_g_force;
+
+	// Error correct raw acceleration
+	_accel_raw_x += accel_cal_x;
+	_accel_raw_y += accel_cal_y;
+	_accel_raw_z += accel_cal_z;
+
+	// Prepare for Pitch Roll Yaw
+	float accel_x_pow_two = pow(_accel_raw_x, 2);
+	float accel_y_pow_two = pow(_accel_raw_y, 2);
+	float accel_z_pow_two = pow(_accel_raw_z, 2);
+
+	_accel_x = atan(_accel_raw_y / sqrt(accel_x_pow_two + accel_z_pow_two)) * RAD_TO_DEGREES;
+	_accel_y = atan(-1.0 * _accel_raw_x / sqrt(accel_y_pow_two + accel_z_pow_two)) * RAD_TO_DEGREES;
+	_accel_z = atan(_accel_raw_z / sqrt(accel_x_pow_two + accel_y_pow_two)) * RAD_TO_DEGREES;
+
+	// Convert temperature to celsius
+	_temperature = _temperature * 0.00294117647 + 36.53;
+
+	// Convert raw Gyro to degrees/s
+	_gyro_raw_x *= _ang_rate_to_dps;
+	_gyro_raw_y *= _ang_rate_to_dps;
+	_gyro_raw_z *= _ang_rate_to_dps;
+
+	// Error correct raw gyro measurements.
+	_gyro_raw_x += gyro_cal_x;
+	_gyro_raw_y += gyro_cal_y;
+	_gyro_raw_z += gyro_cal_z;
+
+	_gyro_x += _gyro_raw_x * duration;
+	_gyro_y += _gyro_raw_y * duration;
+	_gyro_z += _gyro_raw_z * duration;
+
+	_yaw = _gyro_z;
+	_pitch = 0.96 * _gyro_y + 0.04 * _accel_y;
+	_roll = 0.96 * _gyro_x + 0.04 * _accel_x;
+
+	return SENSOR_OK;
+}
+
+bool Sensor::setAccelSensitivity(uint8_t sensitivity)
+{
+	_accel_sensitivity = sensitivity;
+
+	if (_accel_sensitivity > 3)
+		_accel_sensitivity = 3;
+
+	uint8_t val = getRegister(SENSOR_ACCEL_CONFIG);
+
+	if (_status != SENSOR_OK)
+	{
+		return false;
+	}
+
+	// No need to write same value
+	if (((val >> 3) & 3) != _accel_sensitivity)
+	{
+		val &= 0xE7;
+		val |= (_accel_sensitivity << 3);
+
+		if (setRegister(SENSOR_ACCEL_CONFIG, val) != SENSOR_OK)
+		{
+			return false;
+		}
+	}
+
+	// Calculate conversion factor.
+	_accel_to_g_force = (1 << _accel_sensitivity) * RAW_TO_G_FACTOR;
+
+	return true;
+}
+
+uint8_t Sensor::getAccelSensitivity()
+{
+	uint8_t val = getRegister(SENSOR_ACCEL_CONFIG);
+
+	if (_status != SENSOR_OK)
+	{
+		return _status; // return and propagate error (best thing to do)
+	}
+
+	_accel_sensitivity = (val >> 3) & 3;
+
+	return _accel_sensitivity;
+}
+
+bool Sensor::setGyroSensitivity(uint8_t sensitivity)
+{
+	_gyro_sensitivity = sensitivity;
+
+	if (_gyro_sensitivity > 3)
+		_gyro_sensitivity = 3;
+
+	uint8_t val = getRegister(SENSOR_GYRO_CONFIG);
+
+	if (_status != 0)
+	{
+		return false;
+	}
+
+	// No need to write same value
+	if (((val >> 3) & 3) != _gyro_sensitivity)
+	{
+		val &= 0xE7;
+		val |= (_gyro_sensitivity << 3);
+
+		if (setRegister(SENSOR_GYRO_CONFIG, val) != SENSOR_OK)
+		{
+			return false;
+		}
+	}
+
+	_ang_rate_to_dps = (1 << _gyro_sensitivity) * RAW_TO_DPS_FACTOR;
+
+	return true;
+}
+
+uint8_t Sensor::getGyroSensitivity()
+{
+	uint8_t val = getRegister(SENSOR_GYRO_CONFIG);
+
+	if (_status != SENSOR_OK)
+	{
+		return _status;
+	}
+
+	_gyro_sensitivity = (val >> 3) & 3;
+
+	return _gyro_sensitivity;
+}
+
+float Sensor::getAccelX() { return _accel_raw_x; };
+float Sensor::getAccelY() { return _accel_raw_y; };
+
+float Sensor::getAngleX() { return _accel_x; };
+float Sensor::getAngleY() { return _accel_y; };
+
+float Sensor::getTemperature() { return _temperature; };
+
+float Sensor::getGyroX() { return _gyro_raw_x; };
+float Sensor::getGyroY() { return _gyro_raw_y; };
+
+float Sensor::getPitch() { return _pitch; };
+float Sensor::getRoll() { return _roll; };
+
+uint32_t Sensor::lastTime() { return _lastTime; };
+
+uint8_t Sensor::setRegister(uint8_t reg, uint8_t value)
+{
+	_wire->beginTransmission(_address);
+	_wire->write(reg);
+	_wire->write(value);
+
+	if (_wire->endTransmission() != 0)
+	{
+		_status = SENSOR_ERR_WRITE;
+		return _status;
+	}
+
+	return SENSOR_OK;
+}
+
+uint8_t Sensor::getRegister(uint8_t reg)
+{
+	_wire->beginTransmission(_address);
+	_wire->write(reg);
+
+	if (_wire->endTransmission() != 0)
+	{
+		_status = SENSOR_ERR_WRITE;
+		return _status;
+	}
+
+	uint8_t response_length = _wire->requestFrom(_address, (uint8_t)1);
+	if (response_length != 1)
+	{
+		_status = SENSOR_ERR_READ;
+		return _status;
+	}
+
+	uint8_t val = _wire->read();
+
+	return val;
+}
+
+int16_t Sensor::getStatus()
+{
+	auto error = _status;
+	_status = SENSOR_OK;
+
+	return error;
+};
+
+int16_t Sensor::_readTwoBytes()
+{
+	int16_t response = _wire->read();
+	response <<= 8;
+	response |= _wire->read();
+
+	return response;
+}