imu.c File Reference

#include <avr/io.h>
#include "i2cmaster.h"
#include "imu.h"

Go to the source code of this file.

Macros
#define	ga   (LSM9DS0_G)
#define	xma   (LSM9DS0_XM)
#define	g_rb(x)   (imu_rb(ga,x))
#define	g_rbs(x, y, z)   (imu_rbs(ga,x,y,z))
#define	g_wb(x, y)   (imu_wb(ga,x,y))
#define	xm_rb(x)   (imu_rb(xma,x))
#define	xm_rbs(x, y, z)   (imu_rbs(xma,x,y,z))
#define	xm_wb(x, y)   (imu_wb(xma,x,y))
#define	multiple(x)   (x | 0x80)

Functions
int16_t	readTemp ()
	Returns the temperature in Celcius. Will be 25 degrees, which is the optimal temparture for the gyroscope. Is used internally for self-calibration. More...
uint16_t	init_imu (enum gyro_scale gScl, enum accel_scale aScl, enum mag_scale mScl, enum gyro_odr gODR, enum accel_odr aODR, enum mag_odr mODR)
	Initilizes the IMU and enables all 9 axes and set the respective scales and data rates. More...
void	initGyro ()
	initialize the gyroscope, must be done before reading from the gyroscope More...
void	assert (char v)
void	initAccel ()
	initilize the accelometer, this must be called before using any accelometer fucntions More...
void	initMag ()
void	readAccel (int16_t *ax, int16_t *ay, int16_t *az)
void	readMag (int16_t *mx, int16_t *my, int16_t *mz)
void	readGyro (int16_t *gx, int16_t *gy, int16_t *gz)
void	read_gyro (float *x, float *y, float *z)
	Reads the gyroscope and calculates the real value from the raw reading. More...
void	read_accel (float *x, float *y, float *z)
	Reads the accelometer and calculates the real value from the raw reading. More...
void	read_mag (float *x, float *y, float *z)
	Reads the magnemeter and calculates the real value from the raw reading. More...
float	calcGyro (int16_t gyro)
	takes a raw gyro reading and returns the actual value More...
float	calcAccel (int16_t accel)
float	calcMag (int16_t mag)
void	setGyroScale (enum gyro_scale gScl)
	set the scale of the gyroscope see enum gyro_Scale to see what values this can take. More...
void	setAccelScale (enum accel_scale aScl)
	see the setGyroScle function More...
void	setMagScale (enum mag_scale mScl)
	see the setGyroScale function More...
void	setGyroODR (enum gyro_odr gRate)
	set the data capture rate of the gyroscope see the enum gyro_odr to see what values this can take. More...
void	setAccelODR (enum accel_odr aRate)
	see setGyroODR function More...
void	setAccelABW (enum accel_abw abwRate)
void	setMagODR (enum mag_odr mRate)
	see the setGyroODR function More...
void	calcgRes ()
	sets the gRes variable to the correct resolution of the gyroscope readings More...
void	calcaRes ()
	sets the aRes variable to the correct resolution of the accelometer readings More...
void	calcmRes ()
	sets the mRes variable to the correct resolution of the magenmeter readings More...
void	imu_wb (uint8_t address, uint8_t subAddress, uint8_t data)
	Writes a byte to the register at the address specified by subAddress. More...
uint8_t	imu_rb (uint8_t address, uint8_t subAddress)
	Read one byte from the device. More...
void	imu_rbs (uint8_t address, uint8_t subAddress, uint8_t *dest, uint8_t count)
	read multiple bytes from the imu More...

Macro Definition Documentation

#define g_rb

(

x

)

(imu_rb(ga,x))

Definition at line 16 of file imu.c.

#define g_rbs	(		x,
			y,
			z
	)		(imu_rbs(ga,x,y,z))

Definition at line 17 of file imu.c.

#define g_wb	(		x,
			y
	)		(imu_wb(ga,x,y))

Definition at line 18 of file imu.c.

#define ga   (LSM9DS0_G)

Definition at line 12 of file imu.c.

#define multiple

(

x

)

(x | 0x80)

Definition at line 22 of file imu.c.

#define xm_rb

(

x

)

(imu_rb(xma,x))

Definition at line 19 of file imu.c.

#define xm_rbs	(		x,
			y,
			z
	)		(imu_rbs(xma,x,y,z))

Definition at line 20 of file imu.c.

#define xm_wb	(		x,
			y
	)		(imu_wb(xma,x,y))

Definition at line 21 of file imu.c.

#define xma   (LSM9DS0_XM)

Definition at line 13 of file imu.c.

Function Documentation

void assert

(

char

v

)

Definition at line 133 of file imu.c.

float calcAccel

(

int16_t

accel

)

Parameters

accel

Returns

The adjusted value

Definition at line 265 of file imu.c.

void calcaRes

(

)

sets the aRes variable to the correct resolution of the accelometer readings

Definition at line 397 of file imu.c.

void calcgRes

(

)

sets the gRes variable to the correct resolution of the gyroscope readings

Definition at line 378 of file imu.c.

float calcGyro

(

int16_t

gyro

)

takes a raw gyro reading and returns the actual value

Parameters

gyro	raw reading form gyroscope

Returns

The adjusted value

Definition at line 259 of file imu.c.

float calcMag

(

int16_t

mag

)

Parameters

mag

Returns

The adjusted value

Definition at line 271 of file imu.c.

void calcmRes

(

)

sets the mRes variable to the correct resolution of the magenmeter readings

Definition at line 406 of file imu.c.

uint8_t imu_rb	(	uint8_t	address,
		uint8_t	subAddress
	)

Read one byte from the device.

Parameters

address	i2c device address
subAddress	Address of desired register

Returns

The byte read from the device

Definition at line 426 of file imu.c.

void imu_rbs	(	uint8_t	address,
		uint8_t	subAddress,
		uint8_t *	dest,
		uint8_t	count
	)

read multiple bytes from the imu

Parameters

address	address of the twi device to read from
subAddress	register to read from
dest	destination buffer must be of size >= count
count	Number of bytes to read

Definition at line 437 of file imu.c.

void imu_wb	(	uint8_t	address,
		uint8_t	subAddress,
		uint8_t	data
	)

Writes a byte to the register at the address specified by subAddress.

Parameters

address	i2c/twi address of the accelometer / gyroscope
subAddress	The address of the register that will be written to
data	The singular data byte that is to be written to the register specified

Definition at line 416 of file imu.c.

uint16_t init_imu	(	enum gyro_scale	gScl,
		enum accel_scale	a_scl,
		enum mag_scale	m_scl,
		enum gyro_odr	g_odr,
		enum accel_odr	a_odr,
		enum mag_odr	m_odr
	)

Initilizes the IMU and enables all 9 axes and set the respective scales and data rates.

Parameters

gScl	Gyro Scale
a_scl	Accelometer Scale
m_scl	Magnemeter Scale
g_odr	Gyro data rate
a_odr	accelometer data rate
m_odr	magnemeter data rate

Definition at line 32 of file imu.c.

void initAccel

(

void

)

initilize the accelometer, this must be called before using any accelometer fucntions

Definition at line 139 of file imu.c.

void initGyro

(

)

initialize the gyroscope, must be done before reading from the gyroscope

Definition at line 75 of file imu.c.

void initMag

(

void

)

Definition at line 152 of file imu.c.

void read_accel	(	float *	x,
		float *	y,
		float *	z
	)

Reads the accelometer and calculates the real value from the raw reading.

Parameters

x	x-axis
y	y-axis
z	z-axis

Definition at line 241 of file imu.c.

void read_gyro	(	float *	x,
		float *	y,
		float *	z
	)

Reads the gyroscope and calculates the real value from the raw reading.

Parameters

x	x-axis
y	y-axis
z	z-axis

Definition at line 233 of file imu.c.

void read_mag	(	float *	x,
		float *	y,
		float *	z
	)

Reads the magnemeter and calculates the real value from the raw reading.

Parameters

x	x-axis
y	y-axis
z	z-axis

Definition at line 249 of file imu.c.

void readAccel	(	int16_t *	ax,
		int16_t *	ay,
		int16_t *	az
	)

Definition at line 205 of file imu.c.

void readGyro	(	int16_t *	gx,
		int16_t *	gy,
		int16_t *	gz
	)

Definition at line 223 of file imu.c.

void readMag	(	int16_t *	mx,
		int16_t *	my,
		int16_t *	mz
	)

Definition at line 214 of file imu.c.

int16_t readTemp

(

)

Returns the temperature in Celcius. Will be 25 degrees, which is the optimal temparture for the gyroscope. Is used internally for self-calibration.

Returns

The temperature in celcius,

Definition at line 24 of file imu.c.

void setAccelABW

(

enum accel_abw

abwRate

)

Definition at line 354 of file imu.c.

void setAccelODR

(

enum accel_odr

aRate

)

see setGyroODR function

Parameters

aRate

Definition at line 343 of file imu.c.

void setAccelScale

(

enum accel_scale

aScl

)

see the setGyroScle function

Parameters

aScl

Definition at line 295 of file imu.c.

void setGyroODR

(

enum gyro_odr

gRate

)

set the data capture rate of the gyroscope see the enum gyro_odr to see what values this can take.

Parameters

gRate

Definition at line 332 of file imu.c.

void setGyroScale

(

enum gyro_scale

gScl

)

set the scale of the gyroscope see enum gyro_Scale to see what values this can take.

Parameters

gScl

Definition at line 277 of file imu.c.

void setMagODR

(

enum mag_odr

mRate

)

see the setGyroODR function

Parameters

mRate

Definition at line 366 of file imu.c.

void setMagScale

(

enum mag_scale

mScl

)

see the setGyroScale function

Parameters

mScl

Definition at line 314 of file imu.c.