91 lines
2.3 KiB
C++
91 lines
2.3 KiB
C++
#include "imu.hpp"
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#include <fcntl.h>
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#include <unistd.h>
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#include <cmath>
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#include <cstring>
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#include <cstdio>
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#include <termios.h>
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YawTracker::YawTracker() : _fd(-1), _yaw(0), _unbounded_yaw(0), _gyro_z(0), _gyro_bias(0), _ready(false) {}
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bool YawTracker::begin(const char* device, int baud)
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{
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_fd = open(device, O_RDWR | O_NOCTTY | O_NONBLOCK);
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if (_fd < 0) {
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printf("[IMU] 无法打开 %s, 继续无IMU运行\n", device);
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_ready = false;
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return false;
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}
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termios opt;
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tcgetattr(_fd, &opt);
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cfsetispeed(&opt, B115200);
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cfsetospeed(&opt, B115200);
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opt.c_cflag |= (CLOCAL | CREAD);
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opt.c_cflag &= ~PARENB;
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opt.c_cflag &= ~CSTOPB;
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opt.c_cflag &= ~CSIZE;
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opt.c_cflag |= CS8;
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tcsetattr(_fd, TCSANOW, &opt);
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calibrate();
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return true;
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}
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void YawTracker::calibrate(int samples)
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{
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float sum = 0;
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int valid = 0, fail = 0;
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for (int i = 0; i < samples && fail < 10; ++i)
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{
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int ret = _parseJY62();
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if (ret > 0) { sum += _gyro_z; ++valid; fail = 0; }
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else { ++fail; }
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usleep(2000);
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}
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_gyro_bias = valid > 0 ? sum / valid : 0;
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_yaw = 0; _unbounded_yaw = 0;
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_ready = (valid > 10);
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if (!_ready) printf("[IMU] 校准失败 (仅 %d/%d 样本), 继续无IMU运行\n", valid, samples);
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}
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void YawTracker::update(float dt)
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{
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if (_parseJY62() <= 0) return;
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float gyro_filt = _gyro_z - _gyro_bias;
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if (std::fabs(gyro_filt) < 0.03f) gyro_filt = 0; // 死区
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_unbounded_yaw += gyro_filt * dt;
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_yaw = _unbounded_yaw;
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while (_yaw > 180.0f) _yaw -= 360.0f;
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while (_yaw < -180.0f) _yaw += 360.0f;
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}
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int YawTracker::_parseJY62()
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{
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uint8 buf[11];
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int total = 0;
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for (int tries = 0; total < 11 && tries < 20; ++tries)
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{
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int n = read(_fd, buf + total, 11 - total);
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if (n < 0) { usleep(2000); continue; } // EAGAIN, 等 2ms
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if (n == 0) break;
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total += n;
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}
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if (total < 11) return -1;
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for (int tries = 0; buf[0] != 0x55 && total > 10 && tries < 10; ++tries)
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{
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memmove(buf, buf + 1, 10);
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int n = read(_fd, buf + 10, 1);
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if (n <= 0) { usleep(1000); continue; }
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}
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if (buf[0] != 0x55) return -1;
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int16 gz = (buf[5] << 8) | buf[4];
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_gyro_z = gz * (2000.0f / 32768.0f); // ±2000°/s
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return 1;
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}
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