Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Add ADIS IMUs (#3777)

Browse Source 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Matteo Kimura <mateus.sakata@gmail.com>
This commit is contained in:
Thad House
2021-12-30 19:43:53 -08:00
committed by GitHub
parent 315be873c4
commit 1f59ff72f9
7 changed files with 4418 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

795
wpilibc/src/main/native/cpp/ADIS_16470_IMU.cpp Normal file
View File

@@ -0,0 +1,795 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2020 Analog Devices Inc. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/* */
/* Juan Chong - frcsupport@analog.com */
/*----------------------------------------------------------------------------*/
#include <frc/ADIS16470_IMU.h>
#include <frc/DigitalInput.h>
#include <frc/DigitalSource.h>
#include <frc/DriverStation.h>
#include <frc/Timer.h>
#include <cmath>
#include <iostream>
#include <string>
#include <hal/HAL.h>
#include <networktables/NTSendableBuilder.h>
#include <wpi/numbers>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
/* Helpful conversion functions */
static inline int32_t ToInt(const uint32_t* buf) {
return static_cast<int32_t>((buf[0] << 24) | (buf[1] << 16) | (buf[2] << 8) |
buf[3]);
}
static inline int16_t BuffToShort(const uint32_t* buf) {
return (static_cast<int16_t>(buf[0]) << 8) | buf[1];
}
static inline uint16_t ToUShort(const uint8_t* buf) {
return (static_cast<uint16_t>(buf[0]) << 8) | buf[1];
}
using namespace frc;
namespace {
template <typename S, typename... Args>
inline void ADISReportError(int32_t status, const char* file, int line,
const char* function, const S& format,
Args&&... args) {
frc::ReportErrorV(status, file, line, function, format,
fmt::make_args_checked<Args...>(format, args...));
}
} // namespace
#define REPORT_WARNING(msg) \
ADISReportError(warn::Warning, __FILE__, __LINE__, __FUNCTION__, "{}", msg);
#define REPORT_ERROR(msg) \
ADISReportError(err::Error, __FILE__, __LINE__, __FUNCTION__, "{}", msg)
/**
* Constructor.
*/
ADIS16470_IMU::ADIS16470_IMU()
: ADIS16470_IMU(kZ, SPI::Port::kOnboardCS0, ADIS16470CalibrationTime::_4s) {
}
ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, SPI::Port port,
ADIS16470CalibrationTime cal_time)
: m_yaw_axis(yaw_axis),
m_spi_port(port),
m_calibration_time(static_cast<uint16_t>(cal_time)) {
// Force the IMU reset pin to toggle on startup (doesn't require DS enable)
// Relies on the RIO hardware by default configuring an output as low
// and configuring an input as high Z. The 10k pull-up resistor internal to
// the IMU then forces the reset line high for normal operation.
DigitalOutput* m_reset_out =
new DigitalOutput(27); // Drive SPI CS2 (IMU RST) low
Wait(10_ms); // Wait 10ms
delete m_reset_out;
new DigitalInput(27); // Set SPI CS2 (IMU RST) high
Wait(500_ms); // Wait 500ms for reset to complete
// Configure standard SPI
if (!SwitchToStandardSPI()) {
return;
}
// Set IMU internal decimation to 4 (output data rate of 2000 SPS / (4 + 1) =
// 400Hz)
WriteRegister(DEC_RATE, 0x0004);
// Set data ready polarity (HIGH = Good Data), Disable gSense Compensation and
// PoP
WriteRegister(MSC_CTRL, 0x0001);
// Configure IMU internal Bartlett filter
WriteRegister(FILT_CTRL, 0x0000);
// Configure continuous bias calibration time based on user setting
WriteRegister(NULL_CNFG, m_calibration_time | 0x700);
// Notify DS that IMU calibration delay is active
REPORT_WARNING("ADIS16470 IMU Detected. Starting initial calibration delay.");
// Wait for samples to accumulate internal to the IMU (110% of user-defined
// time)
Wait(units::second_t{pow(2, m_calibration_time) / 2000 * 64 * 1.1});
// Write offset calibration command to IMU
WriteRegister(GLOB_CMD, 0x0001);
// Configure and enable auto SPI
if (!SwitchToAutoSPI()) {
return;
}
// Let the user know the IMU was initiallized successfully
REPORT_WARNING("ADIS16470 IMU Successfully Initialized!");
// Drive SPI CS3 (IMU ready LED) low (active low)
new DigitalOutput(28);
// Report usage and post data to DS
HAL_Report(HALUsageReporting::kResourceType_ADIS16470, 0);
wpi::SendableRegistry::AddLW(this, "ADIS16470", port);
}
/**
* @brief Switches to standard SPI operation. Primarily used when exiting auto
*SPI mode.
*
* @return A boolean indicating the success or failure of setting up the SPI
*peripheral in standard SPI mode.
*
* This function switches the active SPI port to standard SPI and is used
*primarily when exiting auto SPI. Exiting auto SPI is required to read or write
*using SPI since the auto SPI configuration, once active, locks the SPI message
*being transacted. This function also verifies that the SPI port is operating
*in standard SPI mode by reading back the IMU product ID.
**/
bool ADIS16470_IMU::SwitchToStandardSPI() {
// Check to see whether the acquire thread is active. If so, wait for it to
// stop producing data.
if (m_thread_active) {
m_thread_active = false;
while (!m_thread_idle) {
Wait(10_ms);
}
std::cout << "Paused the IMU processing thread successfully!" << std::endl;
// Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
if (m_spi != nullptr && m_auto_configured) {
m_spi->StopAuto();
// We need to get rid of all the garbage left in the auto SPI buffer after
// stopping it. Sometimes data magically reappears, so we have to check
// the buffer size a couple of times
// to be sure we got it all. Yuck.
uint32_t trashBuffer[200];
Wait(100_ms);
int data_count = m_spi->ReadAutoReceivedData(trashBuffer, 0, 0_s);
while (data_count > 0) {
/* Receive data, max of 200 words at a time (prevent potential segfault)
*/
m_spi->ReadAutoReceivedData(trashBuffer, std::min(data_count, 200),
0_s);
/*Get the reamining data count */
data_count = m_spi->ReadAutoReceivedData(trashBuffer, 0, 0_s);
}
std::cout << "Paused the auto SPI successfully!" << std::endl;
}
}
// There doesn't seem to be a SPI port active. Let's try to set one up
if (m_spi == nullptr) {
std::cout << "Setting up a new SPI port." << std::endl;
m_spi = new SPI(m_spi_port);
m_spi->SetClockRate(2000000);
m_spi->SetMSBFirst();
m_spi->SetSampleDataOnTrailingEdge();
m_spi->SetClockActiveLow();
m_spi->SetChipSelectActiveLow();
ReadRegister(PROD_ID); // Dummy read
// Validate the product ID
uint16_t prod_id = ReadRegister(PROD_ID);
if (prod_id != 16982 && prod_id != 16470) {
REPORT_ERROR("Could not find ADIS16470!");
Close();
return false;
}
return true;
} else {
// Maybe the SPI port is active, but not in auto SPI mode? Try to read the
// product ID.
ReadRegister(PROD_ID); // Dummy read
uint16_t prod_id = ReadRegister(PROD_ID);
if (prod_id != 16982 && prod_id != 16470) {
REPORT_ERROR("Could not find ADIS16470!");
Close();
return false;
} else {
return true;
}
}
}
/**
* @brief Switches to auto SPI operation. Primarily used when exiting standard
*SPI mode.
*
* @return A boolean indicating the success or failure of setting up the SPI
*peripheral in auto SPI mode.
*
* This function switches the active SPI port to auto SPI and is used primarily
*when exiting standard SPI. Auto SPI is required to asynchronously read data
*over SPI as it utilizes special FPGA hardware to react to an external data
*ready (GPIO) input. Data captured using auto SPI is buffered in the FPGA and
*can be read by the CPU asynchronously. Standard SPI transactions are
* impossible on the selected SPI port once auto SPI is enabled. The stall
*settings, GPIO interrupt pin, and data packet settings used in this function
*are hard-coded to work only with the ADIS16470 IMU.
**/
bool ADIS16470_IMU::SwitchToAutoSPI() {
// No SPI port has been set up. Go set one up first.
if (m_spi == nullptr) {
if (!SwitchToStandardSPI()) {
REPORT_ERROR("Failed to start/restart auto SPI");
return false;
}
}
// Only set up the interrupt if needed.
if (m_auto_interrupt == nullptr) {
m_auto_interrupt = new DigitalInput(26);
}
// The auto SPI controller gets angry if you try to set up two instances on
// one bus.
if (!m_auto_configured) {
m_spi->InitAuto(8200);
m_auto_configured = true;
}
// Do we need to change auto SPI settings?
switch (m_yaw_axis) {
case kX:
m_spi->SetAutoTransmitData(m_autospi_x_packet, 2);
break;
case kY:
m_spi->SetAutoTransmitData(m_autospi_y_packet, 2);
break;
default:
m_spi->SetAutoTransmitData(m_autospi_z_packet, 2);
break;
}
// Configure auto stall time
m_spi->ConfigureAutoStall(HAL_SPI_kOnboardCS0, 5, 1000, 1);
// Kick off DMA SPI (Note: Device configration impossible after SPI DMA is
// activated) DR High = Data good (data capture should be triggered on the
// rising edge)
m_spi->StartAutoTrigger(*m_auto_interrupt, true, false);
// Check to see if the acquire thread is running. If not, kick one off.
if (!m_thread_idle) {
m_first_run = true;
m_thread_active = true;
m_acquire_task = std::thread(&ADIS16470_IMU::Acquire, this);
std::cout << "New IMU Processing thread activated!" << std::endl;
} else {
m_first_run = true;
m_thread_active = true;
std::cout << "Old IMU Processing thread re-activated!" << std::endl;
}
// Looks like the thread didn't start for some reason. Abort.
/*
if(!m_thread_idle) {
REPORT_ERROR("Failed to start/restart the acquire() thread.");
Close();
return false;
}
*/
return true;
}
/**
* @brief Switches the active SPI port to standard SPI mode, writes a new value
*to the NULL_CNFG register in the IMU, and re-enables auto SPI.
*
* @param new_cal_time Calibration time to be set.
*
* @return An int indicating the success or failure of writing the new NULL_CNFG
*setting and returning to auto SPI mode. 0 = Success, 1 = No Change, 2 =
*Failure
*
* This function enters standard SPI mode, writes a new NULL_CNFG setting to the
*IMU, and re-enters auto SPI mode. This function does not include a blocking
*sleep, so the user must keep track of the elapsed offset calibration time
* themselves. After waiting the configured calibration time, the Calibrate()
*function should be called to activate the new offset calibration.
**/
int ADIS16470_IMU::ConfigCalTime(ADIS16470CalibrationTime new_cal_time) {
if (m_calibration_time == static_cast<uint16_t>(new_cal_time)) {
return 1;
}
if (!SwitchToStandardSPI()) {
REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
return 2;
}
m_calibration_time = static_cast<uint16_t>(new_cal_time);
WriteRegister(NULL_CNFG, m_calibration_time | 0x700);
if (!SwitchToAutoSPI()) {
REPORT_ERROR("Failed to configure/reconfigure auto SPI.");
return 2;
}
return 0;
}
/**
* @brief Switches the active SPI port to standard SPI mode, writes a new value
*to the DECIMATE register in the IMU, and re-enables auto SPI.
*
* @param reg Decimation value to be set.
*
* @return An int indicating the success or failure of writing the new DECIMATE
*setting and returning to auto SPI mode. 0 = Success, 1 = No Change, 2 =
*Failure
*
* This function enters standard SPI mode, writes a new DECIMATE setting to the
*IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
**/
int ADIS16470_IMU::ConfigDecRate(uint16_t reg) {
uint16_t m_reg = reg;
if (!SwitchToStandardSPI()) {
REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
return 2;
}
if (m_reg > 1999) {
REPORT_ERROR("Attempted to write an invalid decimation value.");
m_reg = 1999;
}
m_scaled_sample_rate = (((m_reg + 1.0) / 2000.0) * 1000000.0);
WriteRegister(DEC_RATE, m_reg);
if (!SwitchToAutoSPI()) {
REPORT_ERROR("Failed to configure/reconfigure auto SPI.");
return 2;
}
return 0;
}
/**
* @brief Switches the active SPI port to standard SPI mode, writes the command
*to activate the new null configuration, and re-enables auto SPI.
*
* This function enters standard SPI mode, writes 0x0001 to the GLOB_CMD
*register (thus making the new offset active in the IMU), and re-enters auto
*SPI mode. This function does not include a blocking sleep, so the user must
*keep track of the elapsed offset calibration time themselves.
**/
void ADIS16470_IMU::Calibrate() {
if (!SwitchToStandardSPI()) {
REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
}
WriteRegister(GLOB_CMD, 0x0001);
if (!SwitchToAutoSPI()) {
REPORT_ERROR("Failed to configure/reconfigure auto SPI.");
}
}
int ADIS16470_IMU::SetYawAxis(IMUAxis yaw_axis) {
if (m_yaw_axis == yaw_axis) {
return 1;
}
if (!SwitchToStandardSPI()) {
REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
return 2;
}
m_yaw_axis = yaw_axis;
if (!SwitchToAutoSPI()) {
REPORT_ERROR("Failed to configure/reconfigure auto SPI.");
return 2;
}
return 0;
}
/**
* @brief Reads the contents of a specified register location over SPI.
*
* @param reg An unsigned, 8-bit register location.
*
* @return An unsigned, 16-bit number representing the contents of the requested
*register location.
*
* This function reads the contents of an 8-bit register location by
*transmitting the register location byte along with a null (0x00) byte using
*the standard WPILib API. The response (two bytes) is read back using the
*WPILib API and joined using a helper function. This function assumes the
*controller is set to standard SPI mode.
**/
uint16_t ADIS16470_IMU::ReadRegister(uint8_t reg) {
uint8_t buf[2];
buf[0] = reg & 0x7f;
buf[1] = 0;
m_spi->Write(buf, 2);
m_spi->Read(false, buf, 2);
return ToUShort(buf);
}
/**
* @brief Writes an unsigned, 16-bit value to two adjacent, 8-bit register
*locations over SPI.
*
* @param reg An unsigned, 8-bit register location.
*
* @param val An unsigned, 16-bit value to be written to the specified register
*location.
*
* This function writes an unsigned, 16-bit value into adjacent 8-bit addresses
*via SPI. The upper and lower bytes that make up the 16-bit value are split
*into two unsined, 8-bit values and written to the upper and lower addresses of
*the specified register value. Only the lower (base) address must be specified.
*This function assumes the controller is set to standard SPI mode.
**/
void ADIS16470_IMU::WriteRegister(uint8_t reg, uint16_t val) {
uint8_t buf[2];
buf[0] = 0x80 | reg;
buf[1] = val & 0xff;
m_spi->Write(buf, 2);
buf[0] = 0x81 | reg;
buf[1] = val >> 8;
m_spi->Write(buf, 2);
}
/**
* @brief Resets (zeros) the xgyro, ygyro, and zgyro angle integrations.
*
* This function resets (zeros) the accumulated (integrated) angle estimates for
*the xgyro, ygyro, and zgyro outputs.
**/
void ADIS16470_IMU::Reset() {
std::scoped_lock sync(m_mutex);
m_integ_angle = 0.0;
}
void ADIS16470_IMU::Close() {
if (m_thread_active) {
m_thread_active = false;
if (m_acquire_task.joinable()) {
m_acquire_task.join();
}
}
if (m_spi != nullptr) {
if (m_auto_configured) {
m_spi->StopAuto();
}
delete m_spi;
m_auto_configured = false;
if (m_auto_interrupt != nullptr) {
delete m_auto_interrupt;
m_auto_interrupt = nullptr;
}
m_spi = nullptr;
}
std::cout << "Finished cleaning up after the IMU driver." << std::endl;
}
ADIS16470_IMU::~ADIS16470_IMU() {
Close();
}
/**
* @brief Main acquisition loop. Typically called asynchronously and free-wheels
*while the robot code is active.
*
* This is the main acquisiton loop for the IMU. During each iteration, data
*read using auto SPI is extracted from the FPGA FIFO, split, scaled, and
*integrated. Each X, Y, and Z value is 32-bits split across 4 indices (bytes)
*in the buffer. Auto SPI puts one byte in each index location. Each index is
*32-bits wide because the timestamp is an unsigned 32-bit int. The timestamp is
*always located at the beginning of the frame. Two indices (request_1 and
*request_2 below) are always invalid (garbage) and can be disregarded.
*
* Data order: [timestamp, request_1, request_2, x_1, x_2, x_3, x_4, y_1, y_2,
*y_3, y_4, z_1, z_2, z_3, z_4] x = delta x (32-bit x_1 = highest bit) y = delta
*y (32-bit y_1 = highest bit) z = delta z (32-bit z_1 = highest bit)
*
* Complementary filter code was borrowed from
*https://github.com/tcleg/Six_Axis_Complementary_Filter
**/
void ADIS16470_IMU::Acquire() {
// Set data packet length
const int dataset_len = 19; // 18 data points + timestamp
/* Fixed buffer size */
const int BUFFER_SIZE = 4000;
// This buffer can contain many datasets
uint32_t buffer[BUFFER_SIZE];
int data_count = 0;
int data_remainder = 0;
int data_to_read = 0;
uint32_t previous_timestamp = 0;
double delta_angle = 0.0;
double gyro_x = 0.0;
double gyro_y = 0.0;
double gyro_z = 0.0;
double accel_x = 0.0;
double accel_y = 0.0;
double accel_z = 0.0;
double gyro_x_si = 0.0;
double gyro_y_si = 0.0;
// double gyro_z_si = 0.0;
double accel_x_si = 0.0;
double accel_y_si = 0.0;
double accel_z_si = 0.0;
double compAngleX = 0.0;
double compAngleY = 0.0;
double accelAngleX = 0.0;
double accelAngleY = 0.0;
while (true) {
// Sleep loop for 10ms (wait for data)
Wait(10_ms);
if (m_thread_active) {
m_thread_idle = false;
data_count = m_spi->ReadAutoReceivedData(
buffer, 0,
0_s); // Read number of bytes currently stored in the buffer
data_remainder =
data_count % dataset_len; // Check if frame is incomplete. Add 1
// because of timestamp
data_to_read = data_count -
data_remainder; // Remove incomplete data from read count
/* Want to cap the data to read in a single read at the buffer size */
if (data_to_read > BUFFER_SIZE) {
REPORT_WARNING(
"ADIS16470 data processing thread overrun has occurred!");
data_to_read = BUFFER_SIZE - (BUFFER_SIZE % dataset_len);
}
m_spi->ReadAutoReceivedData(
buffer, data_to_read,
0_s); // Read data from DMA buffer (only complete sets)
/*
// DEBUG: Print buffer size and contents to terminal
std::cout << "Start - " << data_count << "," << data_remainder << "," <<
data_to_read << std::endl; for (int m = 0; m < data_to_read - 1; m++ )
{
std::cout << buffer[m] << ",";
}
std::cout << " " << std::endl;
std::cout << "End" << std::endl;
std::cout << "Reading " << data_count << " bytes." << std::endl;
*/
// Could be multiple data sets in the buffer. Handle each one.
for (int i = 0; i < data_to_read; i += dataset_len) {
// Timestamp is at buffer[i]
m_dt = (buffer[i] - previous_timestamp) / 1000000.0;
/* Get delta angle value for selected yaw axis and scale by the elapsed
* time (based on timestamp) */
delta_angle = (ToInt(&buffer[i + 3]) * delta_angle_sf) /
(m_scaled_sample_rate / (buffer[i] - previous_timestamp));
gyro_x = (BuffToShort(&buffer[i + 7]) / 10.0);
gyro_y = (BuffToShort(&buffer[i + 9]) / 10.0);
gyro_z = (BuffToShort(&buffer[i + 11]) / 10.0);
accel_x = (BuffToShort(&buffer[i + 13]) / 800.0);
accel_y = (BuffToShort(&buffer[i + 15]) / 800.0);
accel_z = (BuffToShort(&buffer[i + 17]) / 800.0);
// Convert scaled sensor data to SI units
gyro_x_si = gyro_x * deg_to_rad;
gyro_y_si = gyro_y * deg_to_rad;
// gyro_z_si = gyro_z * deg_to_rad;
accel_x_si = accel_x * grav;
accel_y_si = accel_y * grav;
accel_z_si = accel_z * grav;
// Store timestamp for next iteration
previous_timestamp = buffer[i];
/*
// DEBUG: Print timestamp and delta values
std::cout << previous_timestamp << "," << delta_x << "," << delta_y <<
"," << delta_z << std::endl;
*/
m_alpha = m_tau / (m_tau + m_dt);
if (m_first_run) {
accelAngleX = atan2f(accel_x_si, sqrtf((accel_y_si * accel_y_si) +
(accel_z_si * accel_z_si)));
accelAngleY = atan2f(accel_y_si, sqrtf((accel_x_si * accel_x_si) +
(accel_z_si * accel_z_si)));
compAngleX = accelAngleX;
compAngleY = accelAngleY;
} else {
// Process X angle
accelAngleX = atan2f(accel_x_si, sqrtf((accel_y_si * accel_y_si) +
(accel_z_si * accel_z_si)));
accelAngleY = atan2f(accel_y_si, sqrtf((accel_x_si * accel_x_si) +
(accel_z_si * accel_z_si)));
accelAngleX = FormatAccelRange(accelAngleX, accel_z_si);
accelAngleY = FormatAccelRange(accelAngleY, accel_z_si);
compAngleX = CompFilterProcess(compAngleX, accelAngleX, -gyro_y_si);
compAngleY = CompFilterProcess(compAngleY, accelAngleY, gyro_x_si);
}
// DEBUG: Print accumulated values
// std::cout << m_compAngleX << "," << m_compAngleY << std::endl;
{
std::scoped_lock sync(m_mutex);
/* Push data to global variables */
if (m_first_run) {
/* Don't accumulate first run. previous_timestamp will be "very" old
* and the integration will end up way off */
m_integ_angle = 0.0;
} else {
m_integ_angle += delta_angle;
}
m_gyro_x = gyro_x;
m_gyro_y = gyro_y;
m_gyro_z = gyro_z;
m_accel_x = accel_x;
m_accel_y = accel_y;
m_accel_z = accel_z;
m_compAngleX = compAngleX * rad_to_deg;
m_compAngleY = compAngleY * rad_to_deg;
m_accelAngleX = accelAngleX * rad_to_deg;
m_accelAngleY = accelAngleY * rad_to_deg;
}
m_first_run = false;
}
} else {
m_thread_idle = true;
data_count = 0;
data_remainder = 0;
data_to_read = 0;
previous_timestamp = 0.0;
delta_angle = 0.0;
gyro_x = 0.0;
gyro_y = 0.0;
gyro_z = 0.0;
accel_x = 0.0;
accel_y = 0.0;
accel_z = 0.0;
gyro_x_si = 0.0;
gyro_y_si = 0.0;
// gyro_z_si = 0.0;
accel_x_si = 0.0;
accel_y_si = 0.0;
accel_z_si = 0.0;
compAngleX = 0.0;
compAngleY = 0.0;
accelAngleX = 0.0;
accelAngleY = 0.0;
}
}
}
/* Complementary filter functions */
double ADIS16470_IMU::FormatFastConverge(double compAngle, double accAngle) {
if (compAngle > accAngle + wpi::numbers::pi) {
compAngle = compAngle - 2.0 * wpi::numbers::pi;
} else if (accAngle > compAngle + wpi::numbers::pi) {
compAngle = compAngle + 2.0 * wpi::numbers::pi;
}
return compAngle;
}
double ADIS16470_IMU::FormatRange0to2PI(double compAngle) {
while (compAngle >= 2 * wpi::numbers::pi) {
compAngle = compAngle - 2.0 * wpi::numbers::pi;
}
while (compAngle < 0.0) {
compAngle = compAngle + 2.0 * wpi::numbers::pi;
}
return compAngle;
}
double ADIS16470_IMU::FormatAccelRange(double accelAngle, double accelZ) {
if (accelZ < 0.0) {
accelAngle = wpi::numbers::pi - accelAngle;
} else if (accelZ > 0.0 && accelAngle < 0.0) {
accelAngle = 2.0 * wpi::numbers::pi + accelAngle;
}
return accelAngle;
}
double ADIS16470_IMU::CompFilterProcess(double compAngle, double accelAngle,
double omega) {
compAngle = FormatFastConverge(compAngle, accelAngle);
compAngle =
m_alpha * (compAngle + omega * m_dt) + (1.0 - m_alpha) * accelAngle;
compAngle = FormatRange0to2PI(compAngle);
if (compAngle > wpi::numbers::pi) {
compAngle = compAngle - 2.0 * wpi::numbers::pi;
}
return compAngle;
}
/**
* @brief Returns the current integrated angle for the axis specified.
*
* @param m_yaw_axis An enum indicating the axis chosen to act as the yaw axis.
*
* @return The current integrated angle in degrees.
*
* This function returns the most recent integrated angle for the axis chosen by
*m_yaw_axis. This function is most useful in situations where the yaw axis may
*not coincide with the IMU Z axis.
**/
double ADIS16470_IMU::GetAngle() const {
std::scoped_lock sync(m_mutex);
return m_integ_angle;
}
double ADIS16470_IMU::GetRate() const {
std::scoped_lock sync(m_mutex);
switch (m_yaw_axis) {
case kX:
return m_gyro_x;
case kY:
return m_gyro_y;
case kZ:
return m_gyro_z;
default:
return 0.0;
}
}
ADIS16470_IMU::IMUAxis ADIS16470_IMU::GetYawAxis() const {
return m_yaw_axis;
}
double ADIS16470_IMU::GetGyroInstantX() const {
std::scoped_lock sync(m_mutex);
return m_gyro_x;
}
double ADIS16470_IMU::GetGyroInstantY() const {
std::scoped_lock sync(m_mutex);
return m_gyro_y;
}
double ADIS16470_IMU::GetGyroInstantZ() const {
std::scoped_lock sync(m_mutex);
return m_gyro_z;
}
double ADIS16470_IMU::GetAccelInstantX() const {
std::scoped_lock sync(m_mutex);
return m_accel_x;
}
double ADIS16470_IMU::GetAccelInstantY() const {
std::scoped_lock sync(m_mutex);
return m_accel_y;
}
double ADIS16470_IMU::GetAccelInstantZ() const {
std::scoped_lock sync(m_mutex);
return m_accel_z;
}
double ADIS16470_IMU::GetXComplementaryAngle() const {
std::scoped_lock sync(m_mutex);
return m_compAngleX;
}
double ADIS16470_IMU::GetYComplementaryAngle() const {
std::scoped_lock sync(m_mutex);
return m_compAngleY;
}
double ADIS16470_IMU::GetXFilteredAccelAngle() const {
std::scoped_lock sync(m_mutex);
return m_accelAngleX;
}
double ADIS16470_IMU::GetYFilteredAccelAngle() const {
std::scoped_lock sync(m_mutex);
return m_accelAngleY;
}
/**
* @brief Builds a Sendable object to push IMU data to the driver station.
*
* This function pushes the most recent angle estimates for all axes to the
*driver station.
**/
void ADIS16470_IMU::InitSendable(nt::NTSendableBuilder& builder) {
builder.SetSmartDashboardType("ADIS16470 IMU");
auto yaw_angle = builder.GetEntry("Yaw Angle").GetHandle();
builder.SetUpdateTable(
[=]() { nt::NetworkTableEntry(yaw_angle).SetDouble(GetAngle()); });
}