imu.h

/*******************************************************************************
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/*******************************************************************************
 * \file imu.h
 * 
 * \author MAV'RIC Team
 * \author Felix Schill
 * \author Gregoire Heitz
 *   
 * \brief This file implements the IMU data structure
 *
 ******************************************************************************/


#ifndef IMU_H_
#define IMU_H_

#ifdef __cplusplus
extern "C" {
#endif

#include <stdint.h>
#include <stdbool.h>
#include "gyroscope.h"
#include "accelerometer.h"
#include "magnetometer.h"
#include "quaternions.h"
#include "scheduler.h"
#include "state.h"

#define GYRO_LPF 0.1f                       
#define ACC_LPF 0.05f                       
#define MAG_LPF 0.1f                        


typedef struct
{
    float bias[3];                          
    float scale_factor[3];                  
    float orientation[3];                   
    uint8_t axis[3];                        
    
    float max_oriented_values[3];           
    float min_oriented_values[3];           
    bool calibration;                       
} sensor_calib_t;


typedef struct
{
    float bias[3];                          
    float scale_factor[3];                  
    float orientation[3];                   
    uint8_t axis[3];                        
} sensor_config_t;


typedef struct
{
    sensor_config_t accelerometer;         
    sensor_config_t gyroscope;             
    sensor_config_t magnetometer;          
}imu_conf_t;


typedef struct
{
    sensor_calib_t   calib_gyro;            
    sensor_calib_t   calib_accelero;        
    sensor_calib_t   calib_compass;         
    
    gyroscope_t      raw_gyro;              
    gyroscope_t      oriented_gyro;         
    gyroscope_t      scaled_gyro;           
    
    accelerometer_t  raw_accelero;          
    accelerometer_t  oriented_accelero;     
    accelerometer_t  scaled_accelero;       
    
    magnetometer_t   raw_compass;           
    magnetometer_t   oriented_compass;      
    magnetometer_t   scaled_compass;        
    
    float dt;                               
    uint32_t last_update;                   
    uint8_t calibration_level;              

    state_t* state;                         
} imu_t;


bool imu_init (imu_t *imu, imu_conf_t *conf_imu, state_t* state);


void imu_calibrate_gyros(imu_t *imu);


void imu_update(imu_t *imu);

#ifdef __cplusplus
}
#endif

#endif /* IMU_H_ */