FreeIMU.h File Reference

#include <Wire.h>
#include "Arduino.h"
#include <ADXL345.h>
#include <MS561101BA.h>
#include <ITG3200.h>
#include <HMC58X3.h>

Go to the source code of this file.

Data Structures
class	FreeIMU

Macros
#define	FREEIMU_v04
#define	HAS_ITG3200()   (defined(FREEIMU_v01) || defined(FREEIMU_v02) || defined(FREEIMU_v03) || defined(FREEIMU_v035) || defined(FREEIMU_v035_MS) || defined(FREEIMU_v035_BMP) || defined(SEN_10121) || defined(SEN_10736) || defined(SEN_10724) || defined(SEN_10183))
#define	HAS_ADXL345()   (defined(FREEIMU_v01) || defined(FREEIMU_v02) || defined(FREEIMU_v03) || defined(SEN_10121) || defined(SEN_10736) || defined(SEN_10724) || defined(SEN_10183))
#define	HAS_BMA180()   (defined(FREEIMU_v035) || defined(FREEIMU_v035_MS) || defined(FREEIMU_v035_BMP))
#define	HAS_MPU6050()   (defined(FREEIMU_v04))
#define	HAS_MS5611()   (defined(FREEIMU_v035_MS) || defined(FREEIMU_v04))
#define	HAS_HMC5883L()   (defined(FREEIMU_v01) || defined(FREEIMU_v02) || defined(FREEIMU_v03) || defined(FREEIMU_v035) || defined(FREEIMU_v035_MS) || defined(FREEIMU_v035_BMP) || defined(FREEIMU_v04) || defined(SEN_10736) || defined(SEN_10724) || defined(SEN_10183))
#define	IS_6DOM()   (defined(SEN_10121))
#define	IS_9DOM()   (defined(FREEIMU_v01) || defined(FREEIMU_v02) || defined(FREEIMU_v03) || defined(FREEIMU_v035) || defined(FREEIMU_v035_MS) || defined(FREEIMU_v035_BMP) || defined(FREEIMU_v04) || defined(SEN_10736) || defined(SEN_10724) || defined(SEN_10183))
#define	HAS_AXIS_ALIGNED()   (defined(FREEIMU_v01) || defined(FREEIMU_v02) || defined(FREEIMU_v03) || defined(FREEIMU_v035) || defined(FREEIMU_v035_MS) || defined(FREEIMU_v035_BMP) || defined(FREEIMU_v04) || defined(SEN_10121) || defined(SEN_10736))
#define	FIMU_ACC_ADDR   ADXL345_ADDR_ALT_LOW
#define	FIMU_BARO_ADDR   MS561101BA_ADDR_CSB_LOW
#define	FIMU_BMA180_DEF_ADDR   BMA180_ADDRESS_SDO_LOW
#define	FIMU_ITG3200_DEF_ADDR   ITG3200_ADDR_AD0_LOW
#define	twoKpDef   (2.0f * 0.5f)
#define	twoKiDef   (2.0f * 0.1f)
#define	cbi(sfr, bit)   (_SFR_BYTE(sfr) &= ~_BV(bit))

Functions
float	invSqrt (float number)
void	arr3_rad_to_deg (float *arr)

Macro Definition Documentation

#define cbi	(		sfr,
			bit
	)		(_SFR_BYTE(sfr) &= ~_BV(bit))

#define FIMU_ACC_ADDR   ADXL345_ADDR_ALT_LOW

#define FIMU_BARO_ADDR   MS561101BA_ADDR_CSB_LOW

#define FIMU_BMA180_DEF_ADDR   BMA180_ADDRESS_SDO_LOW

#define FIMU_ITG3200_DEF_ADDR   ITG3200_ADDR_AD0_LOW

#define FREEIMU_v04

#define HAS_ADXL345

(

)

(defined(FREEIMU_v01) || defined(FREEIMU_v02) || defined(FREEIMU_v03) || defined(SEN_10121) || defined(SEN_10736) || defined(SEN_10724) || defined(SEN_10183))

#define HAS_AXIS_ALIGNED

(

)

(defined(FREEIMU_v01) || defined(FREEIMU_v02) || defined(FREEIMU_v03) || defined(FREEIMU_v035) || defined(FREEIMU_v035_MS) || defined(FREEIMU_v035_BMP) || defined(FREEIMU_v04) || defined(SEN_10121) || defined(SEN_10736))

#define HAS_BMA180

(

)

(defined(FREEIMU_v035) || defined(FREEIMU_v035_MS) || defined(FREEIMU_v035_BMP))

#define HAS_HMC5883L

(

)

(defined(FREEIMU_v01) || defined(FREEIMU_v02) || defined(FREEIMU_v03) || defined(FREEIMU_v035) || defined(FREEIMU_v035_MS) || defined(FREEIMU_v035_BMP) || defined(FREEIMU_v04) || defined(SEN_10736) || defined(SEN_10724) || defined(SEN_10183))

#define HAS_ITG3200

(

)

(defined(FREEIMU_v01) || defined(FREEIMU_v02) || defined(FREEIMU_v03) || defined(FREEIMU_v035) || defined(FREEIMU_v035_MS) || defined(FREEIMU_v035_BMP) || defined(SEN_10121) || defined(SEN_10736) || defined(SEN_10724) || defined(SEN_10183))

#define HAS_MPU6050

(

)

(defined(FREEIMU_v04))

#define HAS_MS5611

(

)

(defined(FREEIMU_v035_MS) || defined(FREEIMU_v04))

#define IS_6DOM

(

)

(defined(SEN_10121))

#define IS_9DOM

(

)

(defined(FREEIMU_v01) || defined(FREEIMU_v02) || defined(FREEIMU_v03) || defined(FREEIMU_v035) || defined(FREEIMU_v035_MS) || defined(FREEIMU_v035_BMP) || defined(FREEIMU_v04) || defined(SEN_10736) || defined(SEN_10724) || defined(SEN_10183))

#define twoKiDef   (2.0f * 0.1f)

#define twoKpDef   (2.0f * 0.5f)

Function Documentation

void arr3_rad_to_deg

(

float *

arr

)

Converts a 3 elements array arr of angles expressed in radians into degrees

float invSqrt

(

float

number

)

Fast inverse square root implementation

See Also

http://en.wikipedia.org/wiki/Fast_inverse_square_root