Atomic6DOF.h

00001 /*
00002  * Atomic6DOF.h
00003  *
00004  *  Created on: Feb 18, 2010
00005  *      Author: uscr
00006  */
00007 
00008 #ifndef ATOMIC6DOF_H_
00009 #define ATOMIC6DOF_H_
00010 
00011 #define SERIAL_PORT             "/dev/ttyUSB0"
00012 #define SERIAL_BAUD             B115200
00013 
00014 //sensor calibration and offset constants
00015 #define X_ACCEL_OFFSET          1.952
00016 #define Y_ACCEL_OFFSET          2.21
00017 #define Z_ACCEL_OFFSET          2.0992
00018 #define X_ACCEL_COEFF           0.003931641
00019 #define Y_ACCEL_COEFF           0.004189453
00020 #define Z_ACCEL_COEFF           0.004125
00021 
00022 #define GYRO_COEFF              0.9765625
00023 #define GYRO_OFFSET             500
00024 
00025 #define RAD_TO_DEG              57.295779506
00026 
00027 
00028 struct currentIMUData {
00029         double gyro_pitch, gyro_roll, gyro_yaw;
00030         double accel_x, accel_y, accel_z;
00031         double adj_gyro_pitch, adj_gyro_roll, adj_gyro_yaw;
00032         double adj_accel_x, adj_accel_y, adj_accel_z;
00033         double adj_accel_pitch, adj_accel_roll;
00034         int count;
00035 };
00036 
00037 bool initializeAtomic6DOF();
00038 void shutdownAtomic6DOF();
00039 
00040 bool isIMUDataReady();  //returns true if the read resulted in
00041 
00042 #endif /* ATOMIC6DOF_H_ */