advanced constants More...

Macros
#define	kImuSmallFilterLimit

#define	kImuMotorFilterLimit

#define	kImuMotorFilterTimeOut

#define	kImuCalibrationTime

Enumerations
enum	eImuAddress
	clusters twi addresses for the mpu6050 More...

enum	eImuRegister
	clusters MPU6050 registers for read or write access More...

enum	eImuStateMask
	clusters flags regarding the imu More...

enum	eImuOffset
	clusters inital offsets for the different sensors for each robot More...

Detailed Description

advanced constants

Macro Definition Documentation

◆ kImuCalibrationTime

#define kImuCalibrationTime

constant (5000): Time in milliseconds for calibrating the sensors
see also imu_calibrate()

◆ kImuMotorFilterLimit

#define kImuMotorFilterLimit

constant ( 10): Limit of motor power to be ignored for integration
see also kImuSetUseMotorFilter

◆ kImuMotorFilterTimeOut

#define kImuMotorFilterTimeOut

constant ( 50): Timeout in systicks (10ms) for motor-power-filter.
This allows the motors to slow down.
see also kImuSetUseMotorFilter

◆ kImuSmallFilterLimit

#define kImuSmallFilterLimit

constant (131): Limit of angular velocity to be ignored for integration
see also kImuSetUseSmallFilter

Enumeration Type Documentation

◆ eImuAddress

enum eImuAddress

clusters twi addresses for the mpu6050

Enumerator
kImuAddress1	twi address (0xD0): if AD0 is low
kImuAddress2	twi address (0xD2): if AD0 is high
kImuAddressDefault	twi address (kImuAddress1): default device address

◆ eImuOffset

enum eImuOffset

clusters inital offsets for the different sensors for each robot

See also: imu_get() and imu_set()

Enumerator
kImuOffsetAndiX	constant (1715): offset of linear accel. along x-axis for Andi
kImuOffsetAndiY	constant ( 218): offset of linear accel. along y-axis for Andi
kImuOffsetAndiZ	constant (-249): offset of angular vel. around z-axis for Andi
kImuOffsetAnniX	constant (1356): offset of linear accel. along x-axis for Anni
kImuOffsetAnniY	constant (-214): offset of linear accel. along y-axis for Anni
kImuOffsetAnniZ	constant ( -16): offset of angular vel. around z-axis for Anni
kImuOffsetEmmiX	constant (1150): offset of linear accel. along x-axis for Emmi
kImuOffsetEmmiY	constant (-145): offset of linear accel. along y-axis for Emmi
kImuOffsetEmmiZ	constant (-236): offset of angular vel. around z-axis for Emmi
kImuOffsetHugoX	constant ( 731): offset of linear accel. along x-axis for Hugo
kImuOffsetHugoY	constant ( 12): offset of linear accel. along y-axis for Hugo
kImuOffsetHugoZ	constant ( 162): offset of angular vel. around z-axis for Hugo
kImuOffsetPeteX	constant (1378): offset of linear accel. along x-axis for Pete
kImuOffsetPeteY	constant ( -44): offset of linear accel. along y-axis for Pete
kImuOffsetPeteZ	constant ( -4): offset of angular vel. around z-axis for Pete

◆ eImuRegister

enum eImuRegister

clusters MPU6050 registers for read or write access

Multibyte registers like kImuRegAccelX are in order:
High byte first (here: 0x3B)
Low byte second (here: 0x3C)

Enumerator
kImuRegWhoami	register address (0x75): current twi address (usually 0x68 == kImuAddress1 / 2)
kImuRegSmplrtDiv	register address (0x19): sample rate divisor
kImuRegPwrMgmt1	register address (0x6B): configures the power mode and the clock source
kImuRegDlpfConfig	register address (0x1A): [2:0] digital low-pass filter
kImuRegGyroConfig	register address (0x1B): triggers gyroscope self-test and configures the gyroscopes full scale range
kImuRegAccelConfig	register address (0x1C): triggers accelerometer self-test and configures the accelerometer full scale
kImuRegAccelX	register address (0x3B): linear acceleration along x-axis (16-bit)
kImuRegAccelY	register address (0x3D): linear acceleration along y-axis (16-bit)
kImuRegAccelZ	register address (0x3F): linear acceleration along z-axis (16-bit)
kImuRegTemp	register address (0x41): temperature (16-bit)
kImuRegGyroX	register address (0x43): angular velocity around x-axis (16-bit)
kImuRegGyroY	register address (0x45): angular velocity around y-axis (16-bit)
kImuRegGyroZ	register address (0x47): angular velocity around z-axis (16-bit)

◆ eImuStateMask

enum eImuStateMask

clusters flags regarding the imu

Enumerator
kImuStateNone	bit mask (0x00): all flags are cleared
kImuStateInit	bit mask (0x01): imu was succesfully initialized
kImuStateUseSmallFilter	bit mask (0x02): ignore small angular velocity for integration
kImuStateUseMotorFilter	bit mask (0x04): ignore angular velocity for integration, if motors are (almost) turned off
kImuStateGyroRes	bit mask (0x18): these two bits, represent current full scale range for the angular velocity (yaw angle) this is the same mask as used for the IMU register (kImuRegGyroConfig)
kImuStateAll	bit mask (0x1F): filter all used flags

Macros

Enumerations