imu.c File Reference

IMU calibration and coordinate transformations. More...

#include "can_library/generated/TORQUE_VECTOR.h"
#include "common/utils/orientation.h"
#include "sensors.h"
#include "common/utils/units.h"
#include "common/utils/clamp.h"

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Enumerations
enum	decoupling_state_t { DECOUPLING_STATE_IDLE , DECOUPLING_STATE_CALIBRATING , DECOUPLING_STATE_ACTIVE }

Functions
void	initialize_calibration (void)
	Initialize the IMU decoupling calibration data structures and state.
void	IZZE_angular_rate_CALLBACK (void)
	Finalize the IMU decoupling calibration by deriving the rotation matrix from the accumulated accelerometer data.
void	IZZE_acceleration_CALLBACK (void)
	Callback function for handling IZZE acceleration data.

Variables
static matrix3x3_t	mounting_offset_matrix = {0}
imu_data_t	imu_data = {0}

Detailed Description

IMU calibration and coordinate transformations.

Author

Irving Wang (irvin.nosp@m.gw@p.nosp@m.urdue.nosp@m..edu)

Enumeration Type Documentation

decoupling_state_t

enum decoupling_state_t

Enumerator
DECOUPLING_STATE_IDLE
DECOUPLING_STATE_CALIBRATING
DECOUPLING_STATE_ACTIVE

Function Documentation

initialize_calibration()

void initialize_calibration

(

void

)

Initialize the IMU decoupling calibration data structures and state.

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IZZE_acceleration_CALLBACK()

void IZZE_acceleration_CALLBACK

(

void

)

Callback function for handling IZZE acceleration data.

In calibration mode, accumulates the raw acceleration data to derive the calibration rotation. In active mode, applies the decoupling rotation to the raw acceleration data and sends it out as IMU acceleration.

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IZZE_angular_rate_CALLBACK()

void IZZE_angular_rate_CALLBACK

(

void

)

Finalize the IMU decoupling calibration by deriving the rotation matrix from the accumulated accelerometer data.

Callback function for handling IZZE angular rate data.

In active mode, applies the decoupling rotation to the raw angular rate data and sends it out as IMU angular rate.

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Variable Documentation

imu_data

imu_data_t imu_data = {0}

mounting_offset_matrix

matrix3x3_t mounting_offset_matrix = {0}

static