2 * Copyright (c) 2014, Olivier MATZ <zer0@droids-corp.org>
3 * Copyright (c) 2014, Fabrice DESCLAUX <serpilliere@droids-corp.org>
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
8 * * Redistributions of source code must retain the above copyright
9 * notice, this list of conditions and the following disclaimer.
10 * * Redistributions in binary form must reproduce the above copyright
11 * notice, this list of conditions and the following disclaimer in the
12 * documentation and/or other materials provided with the distribution.
13 * * Neither the name of the University of California, Berkeley nor the
14 * names of its contributors may be used to endorse or promote products
15 * derived from this software without specific prior written permission.
17 * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY
18 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
19 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
20 * DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY
21 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
22 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
23 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
24 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
26 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
68 /* angles in 1/100 degrees */
69 struct imu_euler_int {
75 /* initialize the IMU */
78 /* log imu status on stdout (if stdout is 1) or on sdcard (if 0) */
79 int imu_log(uint8_t to_stdout);
81 /* return a filled imu_info structure corresponding to the latest axes read in
82 * the timer callback. Does not lock irq, so it's up to the user to do that. */
83 void imu_get_info(struct imu_info *imu);
85 /* return the latest position read in the timer callback in a quaternion
86 * struct. Does not lock irq, so it's up to the user to do that. */
87 void imu_get_pos_quat(struct quaternion *pos);
89 /* return the latest position read in the timer callback in an euler
90 * struct. Does not lock irq, so it's up to the user to do that. */
91 void imu_get_pos_euler(struct euler *pos);
93 /* return the latest position read in the timer callback in an imu_euler_int
94 * struct. Does not lock irq, so it's up to the user to do that. */
95 void imu_get_pos_euler_int(struct imu_euler_int *pos);