EFM32 Gecko Software Documentation
efm32g-doc-5.1.2
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Inertial Measurement Unit driver.
Copyright 2016 Silicon Laboratories, Inc. http://www.silabs.com
This file is licensed under the Silicon Labs License Agreement. See the file "Silabs_License_Agreement.txt" for details. Before using this software for any purpose, you must agree to the terms of that agreement.
Definition in file imu.c.
#include <stdint.h>
#include <stdbool.h>
#include <stdio.h>
#include "em_device.h"
#include "gpiointerrupt.h"
#include "thunderboard/board.h"
#include "thunderboard/icm20648.h"
#include "thunderboard/imu/imu.h"
#include "thunderboard/util.h"
Go to the source code of this file.
Functions | |
void | IMU_accelerationGet (int16_t avec[3]) |
Retrieves the processed acceleration data. More... | |
void | IMU_clearDataReadyFlag (void) |
Clears the IMU data ready flag. In case of ver 0.3.0 and older of the PIC firmware the interrupt register also needs to be cleared. More... | |
void | IMU_config (float sampleRate) |
Configures the IMU. More... | |
uint32_t | IMU_deInit (void) |
De-initializes the IMU chip. More... | |
void | IMU_getAccelerometerData (float avec[3]) |
Retrieves the raw acceleration data from the IMU. More... | |
void | IMU_getGyroCorrectionAngles (float acorr[3]) |
Retrieves the processed gyroscope correction angles. More... | |
void | IMU_getGyroData (float gvec[3]) |
Retrieves the raw gyroscope data from the IMU. More... | |
uint8_t | IMU_getState (void) |
Returns IMU state. More... | |
uint32_t | IMU_gyroCalibrate (void) |
Performs gyroscope calibration to cancel gyro bias. More... | |
void | IMU_gyroGet (int16_t gvec[3]) |
Retrieves the processed gyroscope data. More... | |
uint32_t | IMU_init (void) |
Initializes and calibrates the IMU. More... | |
bool | IMU_isDataReady (void) |
Checks if there is new accel/gyro data available for read. More... | |
bool | IMU_isDataReadyFlag (void) |
Checks if there is new accel/gyro data available for read. In case of ver 0.3.0 and older of the PIC firmware the state of the PIC_INT_WAKE needs to be read to determinte if the IMU interrupt is valid. More... | |
void | IMU_orientationGet (int16_t ovec[3]) |
Retrieves the processed orientation data. More... | |
void | IMU_reset (void) |
Resets the fusion calculation. More... | |
void | IMU_update (void) |
Gets a new set of data from the accel and gyro sensor and updates the fusion calculation. More... | |
Variables | |
uint8_t | IMU_state = IMU_STATE_DISABLED |
uint8_t IMU_state = IMU_STATE_DISABLED |
DO_NOT_INCLUDE_WITH_DOXYGEN IMU state variable
Definition at line 41 of file imu.c.
Referenced by IMU_config(), IMU_deInit(), IMU_fuseUpdate(), IMU_getAccelerometerData(), IMU_getGyroData(), IMU_getState(), IMU_init(), IMU_isDataReady(), and IMU_isDataReadyFlag().