Files
file	imu.h
	Sensor API for inertial measurement unit (IMU) readings.

Data Structures
struct	k_sensor_vector_t
	3D IMU vector More...

struct	k_position_vector_t
	Quaternion absolute position vector. More...

Functions
KSensorStatus	k_initialize_imu_sensor (void)
	Setup the IMU interface and any related sensors. More...

KSensorStatus	k_get_gyro (k_sensor_vector_t *gyro)
	Reads gyroscope data from the related sensor. More...

KSensorStatus	k_get_compass (k_sensor_vector_t *mag)
	Reads magnetometer data from the related sensor. More...

KSensorStatus	k_get_acceleration (k_sensor_vector_t *accel)
	Reads accelerometer data from the related sensor. More...

KSensorStatus	k_get_absolute_position (k_position_vector_t *pos)
	Computes absolute position in a quaternion vector using sensor fusion. More...

Function Documentation

KSensorStatus k_get_absolute_position ( k_position_vector_t * pos )

Computes absolute position in a quaternion vector using sensor fusion.

Parameters

pos	pointer to quaternion position struct

Returns: KSensorStatus, SENSOR_OK on success, SENSOR_NOT_FOUND, SENSOR_READ_ERROR, SENSOR_WRITE_ERROR on error

KSensorStatus k_get_acceleration ( k_sensor_vector_t * accel )

Reads accelerometer data from the related sensor.

Parameters

accel pointer to 3D IMU vector struct

Returns: KSensorStatus, SENSOR_OK on success, SENSOR_NOT_FOUND, SENSOR_READ_ERROR, SENSOR_WRITE_ERROR on error

KSensorStatus k_get_compass ( k_sensor_vector_t * mag )

Reads magnetometer data from the related sensor.

Parameters

mag	pointer to 3D IMU vector struct

Returns: KSensorStatus, SENSOR_OK on success, SENSOR_NOT_FOUND, SENSOR_READ_ERROR, SENSOR_WRITE_ERROR on error

KSensorStatus k_get_gyro ( k_sensor_vector_t * gyro )

Reads gyroscope data from the related sensor.

Parameters

gyro	pointer to 3D IMU vector struct

Returns: KSensorStatus, SENSOR_OK on success, SENSOR_NOT_FOUND, SENSOR_READ_ERROR, SENSOR_WRITE_ERROR on error

KSensorStatus k_initialize_imu_sensor ( void )

Setup the IMU interface and any related sensors.

Returns: KSensorStatus, SENSOR_OK on success, SENSOR_WRITE_ERROR, SENSOR_NOT_FOUND or SENSOR_NOT_CALIBRATED on error

Variable Documentation

double k_position_vector_t::w

double k_sensor_vector_t::x

double k_position_vector_t::x

double k_sensor_vector_t::y

double k_position_vector_t::y

double k_sensor_vector_t::z

double k_position_vector_t::z