Lines Matching refs:gyro
98 sensors.gyro.accuracy = inv_data_builder.save.gyro_accuracy;
170 /** Gyro sensitivity.
177 return sensors.gyro.sensitivity;
235 /** Sets the Orientation and Sensitivity of the gyro data.
254 set_sensor_orientation_and_scale(&sensors.gyro, orientation,
258 /** Set Gyro Sample rate in micro seconds.
259 * @param[in] sample_rate_us Set Gyro Sample rate in us
270 sensors.gyro.sample_rate_us = sample_rate_us;
271 sensors.gyro.sample_rate_ms = sample_rate_us / 1000;
272 if (sensors.gyro.bandwidth == 0) {
273 sensors.gyro.bandwidth = (int)(1000000L / sample_rate_us);
297 * @param[in] sample_rate_us Set Gyro Sample rate in micro seconds.
317 *sample_rate_ms = sensors.gyro.sample_rate_ms;
346 /** Set Gyro Bandwidth in Hz
347 * @param[in] bandwidth_hz Gyro bandwidth in Hz
351 sensors.gyro.bandwidth = bandwidth_hz;
355 * @param[in] bandwidth_hz Gyro bandwidth in Hz
363 * @param[in] bandwidth_hz Gyro bandwidth in Hz
378 /** Helper function stating whether the gyro is on or off.
379 * @return TRUE if gyro if on, 0 if gyro if off
383 return (sensors.gyro.status & INV_SENSOR_ON) == INV_SENSOR_ON;
404 if (sensors.gyro.status & INV_SENSOR_ON) {
405 if (timestamp < sensors.gyro.timestamp) {
406 timestamp = sensors.gyro.timestamp;
428 /** Sets the orientation and sensitivity of the gyro data.
451 /** Sets the Orientation and Sensitivity of the gyro data.
597 * Sets the factory gyro bias
599 * Gyro bias in hardware units (+/- 2000 dps full scale assumed)
616 * Sets the mpl gyro bias
618 * Gyro bias in hardware units scaled by 2^16 (+/- 2000 dps full
630 inv_apply_calibration(&sensors.gyro,
634 sensors.gyro.accuracy = accuracy;
647 module that gyro biases were set.
654 * @brief Return whether gyro biases were set to signal the temperature
658 * @return true if the flag was set, indicating gyro biases were set.
670 * Get the mpl gyro biases
672 * Gyro calibrated bias.
685 /** Gyro Bias in the form used by the DMP.
686 * @param[out] bias Gyro Bias in the form used by the DMP. It is scaled appropriately
695 inv_convert_to_body_with_scale(sensors.gyro.orientation, 46850825L,
701 * Get the gyro biases and temperature record from MPL
703 * Gyro bias in hardware units scaled by 2^16.
813 /** Record new gyro data and calls inv_execute_on_data() if previous
815 * @param[in] gyro Data is in device units. Length 3.
820 inv_error_t inv_build_gyro(const short *gyro, inv_time_t timestamp)
826 fwrite(gyro, sizeof(gyro[0]), 3, inv_data_builder.file);
831 memcpy(sensors.gyro.raw, gyro, 3 * sizeof(short));
832 sensors.gyro.status |= INV_NEW_DATA | INV_RAW_DATA | INV_SENSOR_ON;
833 sensors.gyro.timestamp_prev = sensors.gyro.timestamp;
834 sensors.gyro.timestamp = timestamp;
835 inv_apply_calibration(&sensors.gyro, inv_data_builder.save_mpl.gyro_bias);
1012 /** This should be called when the gyro has been turned off. This is so
1023 sensors.gyro.status = 0;
1041 * gyro data, INV_MAG_NEW = compass data. So passing in
1098 * gyro data, INV_MAG_NEW = compass data. So passing in
1142 if (sensors.gyro.status & INV_NEW_DATA)
1177 if (sensors.gyro.status & INV_NEW_DATA) {
1178 sensors.gyro.status |= INV_CONTIGUOUS;
1179 current_time = sensors.gyro.timestamp;
1202 if (inv_delta_time_ms(current_time, sensors.gyro.timestamp) >= 2000)
1214 sensors.gyro.status &= ~INV_NEW_DATA;
1240 /** Gets a whole set of gyro data including data, accuracy and timestamp.
1241 * @param[out] data Gyro Data where 1 dps = 2^16
1247 memcpy(data, sensors.gyro.calibrated, sizeof(sensors.gyro.calibrated));
1249 *timestamp = sensors.gyro.timestamp;
1252 *accuracy = sensors.gyro.accuracy;
1256 /** Gets a whole set of gyro raw data including data, accuracy and timestamp.
1257 * @param[out] data Gyro Data where 1 dps = 2^16
1263 memcpy(data, sensors.gyro.raw_scaled, sizeof(sensors.gyro.raw_scaled));
1265 *timestamp = sensors.gyro.timestamp;
1272 /** Get's latest gyro data.
1273 * @param[out] gyro Gyro Data, Length 3. 1 dps = 2^16.
1275 void inv_get_gyro(long *gyro)
1277 memcpy(gyro, sensors.gyro.calibrated, sizeof(sensors.gyro.calibrated));
1328 /** Returns accuracy of gyro.
1329 * @return Accuracy of gyro with 0 being not accurate, and 3 being most accurate.
1333 return sensors.gyro.accuracy;
1356 *orient = sensors.gyro.orientation;
