EFR32 Blue Gecko 12 Software Documentation  efr32bg12-doc-5.1.2
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...