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This commit is contained in:
Oleg Kalachev
2026-08-09 22:42:14 +03:00
parent 9880eeccd3
commit 4c74768131
1 changed files with 5 additions and 6 deletions
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flix/imu.ino
+5 -6
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@@ -13,7 +13,7 @@
IMU *imu; IMU *imu;
int imuModel = -1; int imuModel = -1;
int imuBus = 0; // 0 - SPI, 1 - I2C int imuBus = 0; // 0 - SPI, 1 - I2C
int imuSckPin = SCK, imuMisoPin = MISO, imuMosiPin = MOSI, imuCsPin = -1, imuIntPin = -1; int imuSckPin = SCK, imuMisoPin = MISO, imuMosiPin = MOSI, imuCsPin = SS, imuIntPin = -1;
int imuSdaPin = SDA, imuSclPin = SCL; int imuSdaPin = SDA, imuSclPin = SCL;
Vector imuRotation(0, 0, PI / 2); // imu orientation as Euler angles Vector imuRotation(0, 0, PI / 2); // imu orientation as Euler angles
@@ -29,17 +29,16 @@ LowPassFilter<Vector> gyroBiasFilter(0.001);
void setupIMU() { void setupIMU() {
print("Setup IMU\n"); print("Setup IMU\n");
free(imu); free(imu);
if (imuBus == 0 && imuCsPin > 0) { if (imuBus == 0) {
// SPI connection // SPI connection
SPI.begin(imuSckPin, imuMisoPin, imuMosiPin); SPI.begin(imuSckPin, imuMisoPin, imuMosiPin); // SPI connection
imu = IMU::create(imuModel, SPI, imuCsPin, imuIntPin); imu = IMU::create(imuModel, SPI, imuCsPin, imuIntPin);
imu->begin(); } else {
} else if (imuBus == 1) {
// I2C connection // I2C connection
Wire.setPins(imuSdaPin, imuSclPin); Wire.setPins(imuSdaPin, imuSclPin);
imu = IMU::create(imuModel, Wire, imuIntPin); imu = IMU::create(imuModel, Wire, imuIntPin);
imu->begin();
} }
imu->begin();
configureIMU(); configureIMU();
} }