drop_bone_imu.h

#ifndef drop_bone_imu_h
#define drop_bone_imu_h

#define MPU6050 // The Invensense Motion Driver code needs this

#define BBB_I2C_FILE "/dev/i2c-1"

#define MPU6050_ADDR 0x68
#define MPU6050_WHO_AM_I 0x75

#define DEFAULT_MPU_HZ 10

#define PI 3.14159
#define QUAT_SCALE (1.0/1073741824)
#define GPIO_INT_FILE "/sys/class/gpio/gpio14/value" 

#define GYRO_SCALE (PI/(180.0*16.384))

#define ACCEL_SCALE (1.0/16384)

#define NOSENTVALS 13 // the numver of values to be sent through UDP

#define THRESHOLD (0.1*PI/180.0) // the amount that the IMU Euler values have to change less than to indicate that calibration has finished

#define CALIBRATION_TIME 20.0

#include "inv_mpu_dmp_motion_driver.h"
#include "inv_mpu.h"



/* The following functions must be defined for this platform:
 * i2c_write(unsigned char slave_addr, unsigned char reg_addr,
 *      unsigned char length, unsigned char const *data)
 * i2c_read(unsigned char slave_addr, unsigned char reg_addr,
 *      unsigned char length, unsigned char *data)
 * delay_ms(unsigned long num_ms)
 * get_ms(unsigned long *count)
 * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin)
 * labs(long x)
 * fabsf(float x)
 * min(int a, int b)
 */

#define log_i printf

int init();

int i2c_write(unsigned char slave_addr, unsigned char reg_addr,
        unsigned char length, unsigned char const *data);
int i2c_read(unsigned char slave_addr, unsigned char reg_addr,
        unsigned char length, unsigned char *data);

int open_bus();

int q_multiply(float* q1, float* q2, float* result); // multiply two quaternions together {w, x, y, z}

int rescale_l(long* input, float* output, float scale_factor, char length);
int rescale_s(short* input, float* output, float scale_factor, char length);
void delay_ms(unsigned long num_ms);
void get_ms(unsigned long *count);
void reg_int_cb(struct int_param_s *);

void parse_args(int argc, char** argv);
void print_usage();

inline int min ( int a, int b );
inline void __no_operation();

void euler(float* q, float* euler_angles); // Convert quaternions to Euler angles

// Functions for setting gyro/accel orientation
unsigned short inv_row_2_scale(const signed char *row);
unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx);

void advance_spinner();

#endif