EFM32 Gecko Software Documentation
efm32g-doc-5.1.2
|
Inertial Measurement Unit DCM matrix related routines.
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.h.
#include <stdint.h>
#include "em_gpio.h"
#include "i2cspm.h"
#include "thunderboard/board_pic_regs.h"
#include "thunderboard/board_rgbled_profiles.h"
Go to the source code of this file.
Data Structures | |
struct | _IMU_SensorFusion |
Structure to store the sensor fusion data. More... | |
Macros | |
#define | IMU_DEG_TO_RAD(ang) (ang * IMU_DEG_TO_RAD_FACTOR) |
#define | IMU_DEG_TO_RAD_FACTOR ( (2.0*IMU_PI) / 360.0 ) |
#define | IMU_MAX_ACCEL_FOR_ANGLE 0.9848 |
#define | IMU_OK 0 |
#define | IMU_PI 3.14159265358979323 |
#define | IMU_RAD_TO_DEG(ang) (ang * IMU_RAD_TO_DEG_FACTOR) |
#define | IMU_RAD_TO_DEG_FACTOR ( 360.0 / (2.0*IMU_PI) ) |
#define | IMU_STATE_CALIBRATING 0x03 |
#define | IMU_STATE_DISABLED 0x00 |
#define | IMU_STATE_INITIALIZING 0x02 |
#define | IMU_STATE_READY 0x01 |
Typedefs | |
typedef struct _IMU_SensorFusion | IMU_SensorFusion |
Structure to store the sensor fusion data. | |
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... | |
void | IMU_dcmGetAngles (float dcm[3][3], float angle[3]) |
Calculates the Euler angles (roll, pitch, yaw) from the DCM matrix. More... | |
void | IMU_dcmNormalize (float dcm[3][3]) |
Normalizes the DCM matrix. More... | |
void | IMU_dcmReset (float dcm[3][3]) |
Sets the elements of the DCM matrixto the corresponding elements of the identity matrix. More... | |
void | IMU_dcmResetZ (float dcm[3][3]) |
DCM reset, Z direction. More... | |
void | IMU_dcmRotate (float dcm[3][3], float angle[3]) |
Rotates the DCM matrix by a given angle. More... | |
uint32_t | IMU_deInit (void) |
De-initializes the IMU chip. More... | |
void | IMU_fuseAccelerometerSetSampleRate (IMU_SensorFusion *f, float rate) |
Sets the accelerometer sample rate in the IMU_SensorFusion structure. More... | |
void | IMU_fuseAccelerometerUpdateFilter (IMU_SensorFusion *f, float avec[3]) |
The current accelerometer data is added to the accumulator. More... | |
void | IMU_fuseGyroCorrection (IMU_SensorFusion *f, bool accValid, bool dirValid, float dirZ) |
Calculates the gyro correction vector. More... | |
void | IMU_fuseGyroCorrectionClear (IMU_SensorFusion *f) |
Clears the gyro correction vector. More... | |
void | IMU_fuseGyroSetSampleRate (IMU_SensorFusion *f, float rate) |
Sets the gyro sample rate and related values in the IMU_SensorFusion structure. More... | |
void | IMU_fuseGyroUpdate (IMU_SensorFusion *f, float gvec[3]) |
Updates the fusion calculation with a new gyro data. More... | |
void | IMU_fuseNew (IMU_SensorFusion *f) |
Initializes a new IMU_SensorFusion structure. More... | |
void | IMU_fuseReset (IMU_SensorFusion *f) |
Clears the values of the sensor fusion object. More... | |
void | IMU_fuseUpdate (IMU_SensorFusion *f) |
Updates the fusion calculation. 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_matrixMultiply (float c[3][3], float a[3][3], float b[3][3]) |
Multiplies two 3x3 matrices. More... | |
void | IMU_normalizeAngle (float *a) |
Normalizes the angle ( -PI < angle <= PI ) 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... | |
void | IMU_vectorAdd (float r[3], float a[3], float b[3]) |
Adds two vectors. More... | |
void | IMU_vectorCrossProduct (float r[3], float a[3], float b[3]) |
Calculates the cross product of two vectors. More... | |
float | IMU_vectorDotProduct (float a[3], float b[3]) |
Calculates the dot product of two vectors. More... | |
void | IMU_vectorNormalizeAngle (float v[3]) |
Normalizes the angle of a vector. More... | |
void | IMU_vectorScalarMultiplication (float r[3], float v[3], float scale) |
Multiplies a vector by a scalar. More... | |
void | IMU_vectorScale (float v[3], float scale) |
Scales a vector by a factor. More... | |
void | IMU_vectorSubtract (float r[3], float a[3], float b[3]) |
Subtracts vector b from vector a. More... | |
void | IMU_vectorZero (float v[3]) |
Sets all elements of a vector to 0. More... | |