imu.h File Reference

Detailed Description

Inertial Measurement Unit DCM matrix related routines.

Version

5.1.1

License

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...