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61 lines
1.6 KiB
61 lines
1.6 KiB
1 year ago
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float gx, gy, gz;
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float ax, ay, az;
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float pitch, roll;
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uint16_t xc, yc;
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uint8_t isTouch;
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int16_t xc_old, yc_old;
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void printAngles(){
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//test function calls
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float gx, gy, gz;
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getAccel(ax, ay, az);
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Serial.printf("Accel-g's: %f, %f, %f\n", ax, ay, az);
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getGyro(gx, gy, gz);
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Serial.printf("Gyro-deg/sec: %f, %f, %f\n", gx, gy, gz);
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getAngles(pitch, roll);
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Serial.printf("Pitch/Roll: %f, %f\n", pitch, roll);
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getCoords(xc, yc, isTouch);
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}
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void getCoords(uint16_t &xc, uint16_t &yc, uint8_t &isTouch){
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// Trackpad touch 1: id, active, x, y
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xc = ((psAxis[37] & 0x0f) << 8) | psAxis[36];
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yc = psAxis[38] << 4 | ((psAxis[37] & 0xf0) >> 4),
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isTouch = psAxis[35] >> 7;
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if(xc != xc_old || yc != yc_old){
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Serial.printf("Touch: %d, %d, %d, %d\n", psAxis[33], isTouch, xc, yc);
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xc_old = xc;
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yc_old = yc;
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}
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}
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void getAccel( float &ax, float &ay, float &az){
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int accelx = (int16_t)(psAxis[20]<<8) | psAxis[19];
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int accelz = (int16_t)(psAxis[22]<<8) | psAxis[21];
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int accely = (int16_t)(psAxis[24]<<8) | psAxis[23];
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ax = (float) accelx/8192;
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ay = (float) accely/8192;
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az = (float) accelz/8192;
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}
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void getAngles(float &p, float &r){
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getAccel( ax, ay, az);
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p = (atan2f(ay, az) + PI) * RAD_TO_DEG;
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r = (atan2f(ax, az) + PI) * RAD_TO_DEG;
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}
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void getGyro(float &gx, float &gy, float &gz){
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int gyroy = (int16_t)(psAxis[14]<<8) | psAxis[13];
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int gyroz = (int16_t)(psAxis[16]<<8) | psAxis[15];
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int gyrox = (int16_t)(psAxis[18]<<8) | psAxis[17];
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gx = (float) gyrox * RAD_TO_DEG/1024;
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gy = (float) gyroy * RAD_TO_DEG/1024;
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gz = (float) gyroz * RAD_TO_DEG/1024;
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}
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