Contains the handling of the gyroscope and accelerometer. IMU is auto activated when used. More...

Enumerations
enum class	EventType { FreeFall , BigMotion , Step , Tilt }
	Describe an IMU detection event. More...

Functions
void	init ()
	Called once on program start, initialize the driver.

void	shutdown ()
	Called once on program shutdown, to gracefully close the driver.

bool	enable_event_detection (const EventType eventType)
	Enable a specific event.

bool	disable_event_detection (const EventType eventType)
	Disable a specific event.

bool	is_event_detected (const EventType eventType)
	Read the event bit.

void	interrupt1_callback ()
	callback for the interrupt1 signal

bool	is_interrupt1_enabled ()
	Read and reset the interrupt1 bit.

void	interrupt2_callback ()
	callback for the interrupt1 signal

bool	is_interrupt2_enabled ()
	Read and reset the interrupt2 bit.

bool	link_event_to_interrupt1 (const EventType eventType)
	Enable the interrupt 1 with an event type, wired to the interrupt pin 1 of IMU.

void	unlink_interrupt_1 ()
	Disable the interrupts 1.

bool	link_event_to_interrupt2 (const EventType eventType)
	Enable the interrupt 2 with an event type, wired to the interrupt pin 2 of IMU EVENT BigMotion & Step NOT SUPPORTED ON INTERRUPT 2.

void	unlink_interrupt_2 ()
	Disable the interrupts 2.

Reading	get_filtered_reading (const bool resetFilter)
	get the filtered IMU readings

Variables
Wrapper	imuInstance
	instance of the IMU controler

platform::gpio::DigitalPin	interrupt1Pin (platform::gpio::DigitalPin::GPIO::Signal_ImuInterrupt1)
	interrupt 1 pin

platform::gpio::DigitalPin	interrupt2Pin (platform::gpio::DigitalPin::GPIO::Signal_ImuInterrupt2)
	interrupt 2 pin

bool	isInitialized = false
	indicates if the driver is initialized

const utils::TransformationMatrix	imuToBoardTransformation (utils::vec3d(imuToCircuitRotationX_rad, imuToCircuitRotationY_rad, imuToCircuitRotationZ_rad), utils::vec3d(imuToCircuitPositionX_m, imuToCircuitPositionY_m, imuToCircuitPositionZ_m))
	Transform imu coordinates to board coordinates.

const utils::TransformationMatrix	boardToFirstPixelTransformation (utils::vec3d(circuitToLedZeroRotationX_degrees c_degreesToRadians, circuitToLedZeroRotationY_degrees c_degreesToRadians, circuitToLedZeroRotationZ_degrees *c_degreesToRadians), utils::vec3d(0, 0, 0))
	Transform board coordinates to first pixel.

bool	isInterrupt1Enabled = false
	interrupt 1 result

bool	isInterrupt2Enabled = false
	interrupt 2 result

Detailed Description

Contains the handling of the gyroscope and accelerometer. IMU is auto activated when used.

physical layer of the IMU.

Enumeration Type Documentation

strong

Describe an IMU detection event.

Enumerator
FreeFall	raised during a free fall event
BigMotion	raised during a big acceleration
Step	raised during step detection
Tilt	raised event during orientation flip