IMU.cpp File Reference

#include "Arduino.h"
#include "config.h"
#include "def.h"
#include "types.h"
#include "MultiWii.h"
#include "IMU.h"
#include "Sensors.h"

Classes
struct	t_int32_t_vector_def
struct	t_int16_t_vector_def
union	t_int32_t_vector

Macros
#define	ACC_LPF_FACTOR   4
#define	GYR_CMPF_FACTOR   10
#define	GYR_CMPFM_FACTOR   8
#define	MultiS16X16to32(longRes, intIn1, intIn2)
#define	UPDATE_INTERVAL   25000
#define	BARO_TAB_SIZE   21
#define	ACC_Z_DEADBAND   (ACC_1G>>5)
#define	applyDeadband(value, deadband)

Functions
void	getEstimatedAttitude ()
void	computeIMU ()
int16_t	_atan2 (int32_t y, int32_t x)
float	InvSqrt (float x)
int32_t	__attribute__ ((noinline)) mul(int16_t a
	MultiS16X16to32 (r, a, b)
void	rotateV32 (t_int32_t_vector *v, int16_t *delta)

Variables
int32_t int16_t	b
return	r

Macro Definition Documentation

#define ACC_LPF_FACTOR   4

#define ACC_Z_DEADBAND   (ACC_1G>>5)

#define applyDeadband	(		value,
			deadband
	)

Value:

if(abs(value) < deadband) {           \
    value = 0;                          \
  } else if(value > 0){                 \
    value -= deadband;                  \
  } else if(value < 0){                 \
    value += deadband;                  \
  }

#define BARO_TAB_SIZE   21

#define GYR_CMPF_FACTOR   10

#define GYR_CMPFM_FACTOR   8

#define MultiS16X16to32	(		longRes,
			intIn1,
			intIn2
	)

Value:

asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %A2 \n\t" \
"movw %A0, r0 \n\t" \
"muls %B1, %B2 \n\t" \
"movw %C0, r0 \n\t" \
"mulsu %B2, %A1 \n\t" \
"sbc %D0, r26 \n\t" \
"add %B0, r0 \n\t" \
"adc %C0, r1 \n\t" \
"adc %D0, r26 \n\t" \
"mulsu %B1, %A2 \n\t" \
"sbc %D0, r26 \n\t" \
"add %B0, r0 \n\t" \
"adc %C0, r1 \n\t" \
"adc %D0, r26 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (longRes) \
: \
"a" (intIn1), \
"a" (intIn2) \
: \
"r26" \
)

#define UPDATE_INTERVAL   25000

Function Documentation

int32_t __attribute__

(

(noinline)

)

int16_t _atan2	(	int32_t	y,
		int32_t	x
	)

void computeIMU

(

)

void getEstimatedAttitude

(

)

float InvSqrt

(

float

x

)

MultiS16X16to32	(	r	,
		a	,
		b
	)

void rotateV32	(	t_int32_t_vector *	v,
		int16_t *	delta
	)

Variable Documentation

int32_t int16_t b

Initial value:

{
  int32_t r

return r