openXsensor/oXs_imu.h

   1 #ifndef OXS_IMU_h
   2 #define OXS_IMU_h
   3
   4
   5 #include "Arduino.h"
   6 #include "oXs_config_basic.h"
   7 #include "oXs_config_advanced.h"
   8 #include "oXs_config_macros.h"
   9 #include "I2C.h"
  10 #include "helper_3dmath.h"
  11
  12
  13 boolean initialize_mpu() ;
  14 void getEuler(float *data, Quaternion *q) ;
  15 void getGravity(struct FloatVectorStruct *v, Quaternion *q) ;
  16 void dmpGetYawPitchRoll(float *data, Quaternion *q, struct FloatVectorStruct *gravity) ;
  17 void enable_mpu() ;
  18 void disable_mpu() ;
  19 void setupImu() ;
  20 void gyro_data_ready_cb(void) ;
  21 unsigned short inv_row_2_scale(const signed char *row) ;
  22 unsigned short inv_orientation_matrix_to_scalar( const signed char *mtx) ;
  23 boolean run_mpu_self_test(boolean& gyro_ok, boolean& accel_ok) ;
  24 bool read6050 () ;   // return a flag that is true when a new acceleration is available
  25 void dump_all() ;
  26 #endif // OXS_IMU_h
  27
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