66 lines
2.3 KiB
C++
66 lines
2.3 KiB
C++
#include <Adafruit_BNO08x.h>
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#include <Wire.h>
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#include <math.h>
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#include "imu.h"
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#include "sensor_node_config.h"
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namespace {
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Adafruit_BNO08x bno086(-1);
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sh2_SensorValue_t value;
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bool initialized = false;
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unsigned long lastInitAttemptMs = 0;
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float radiansToDegrees(float r) { return r * 180.0f / PI; }
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bool tryInitImu() {
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lastInitAttemptMs = millis();
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initialized = bno086.begin_I2C(BNO086_I2C_ADDRESS, &Wire);
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if (initialized) initialized = bno086.enableReport(SH2_ROTATION_VECTOR, IMU_REPORT_INTERVAL_US);
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return initialized;
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}
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void updateEuler(ImuState& s) {
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float sinr = 2 * (s.real * s.i + s.j * s.k);
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float cosr = 1 - 2 * (s.i * s.i + s.j * s.j);
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s.rollDegrees = radiansToDegrees(atan2f(sinr, cosr));
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float sinp = 2 * (s.real * s.j - s.k * s.i);
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s.pitchDegrees = radiansToDegrees(fabsf(sinp) >= 1 ? copysignf(PI / 2, sinp) : asinf(sinp));
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float siny = 2 * (s.real * s.k + s.i * s.j);
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float cosy = 1 - 2 * (s.j * s.j + s.k * s.k);
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s.yawDegrees = radiansToDegrees(atan2f(siny, cosy));
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}
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}
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bool initImu() {
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Wire.begin(BNO086_SDA_PIN, BNO086_SCL_PIN);
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Wire.setClock(BNO086_I2C_CLOCK_HZ);
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delay(100);
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Serial.print("Starting BNO086 at 0x");
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Serial.println(BNO086_I2C_ADDRESS, HEX);
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for (int attempt = 1; attempt <= BNO086_INIT_ATTEMPTS; attempt++) {
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if (tryInitImu()) return true;
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Serial.print("BNO086 init attempt failed: ");
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Serial.println(attempt);
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delay(BNO086_INIT_RETRY_DELAY_MS);
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}
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return false;
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}
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void maintainImu(ImuState& s) {
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if (initialized || millis() - lastInitAttemptMs < BNO086_RUNTIME_RETRY_MS) return;
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Serial.println("Retrying BNO086 initialization");
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s.online = tryInitImu();
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if (s.online) Serial.println("BNO086 recovered");
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}
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void updateImu(ImuState& s) {
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s.online = initialized;
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if (initialized && bno086.wasReset()) {
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initialized = bno086.enableReport(SH2_ROTATION_VECTOR, IMU_REPORT_INTERVAL_US);
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s.online = initialized;
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if (!initialized) return;
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}
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if (!initialized || !bno086.getSensorEvent(&value) || value.sensorId != SH2_ROTATION_VECTOR) return;
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s.i = value.un.rotationVector.i; s.j = value.un.rotationVector.j;
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s.k = value.un.rotationVector.k; s.real = value.un.rotationVector.real;
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s.accuracy = value.status; s.valid = true; s.lastUpdateMs = millis();
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updateEuler(s);
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}
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