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Move private IMU data into its mgos_imu_internal.h

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Pim van Pelt
2018-04-19 15:32:00 +02:00
parent d693631b70
commit 37d26eb65f
3 changed files with 151 additions and 64 deletions
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76
include/mgos_imu.h
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@ -17,20 +17,11 @@
#pragma once
#include "mgos.h"
#include "mgos_i2c.h"
struct mgos_imu_mag;
struct mgos_imu_acc;
struct mgos_imu_gyro;
typedef bool (*mgos_imu_mag_detect_fn)(struct mgos_imu_mag *dev);
typedef bool (*mgos_imu_mag_start_fn)(struct mgos_imu_mag *dev);
typedef bool (*mgos_imu_mag_read_fn)(struct mgos_imu_mag *dev);
typedef bool (*mgos_imu_acc_detect_fn)(struct mgos_imu_acc *dev);
typedef bool (*mgos_imu_acc_start_fn)(struct mgos_imu_acc *dev);
typedef bool (*mgos_imu_acc_read_fn)(struct mgos_imu_acc *dev);
typedef bool (*mgos_imu_gyro_detect_fn)(struct mgos_imu_gyro *dev);
typedef bool (*mgos_imu_gyro_start_fn)(struct mgos_imu_gyro *dev);
typedef bool (*mgos_imu_gyro_read_fn)(struct mgos_imu_gyro *dev);
#ifdef __cplusplus
extern "C" {
#endif
enum mgos_imu_acc_type {
ACC_NONE = 0,
@ -47,53 +38,7 @@ enum mgos_imu_mag_type {
MAG_AK8963
};
struct mgos_imu {
struct mgos_imu_mag *mag;
struct mgos_imu_acc *acc;
struct mgos_imu_gyro *gyro;
};
struct mgos_imu_mag {
mgos_imu_mag_detect_fn detect;
mgos_imu_mag_start_fn start;
mgos_imu_mag_read_fn read;
struct mgos_i2c *i2c;
uint8_t i2caddr;
enum mgos_imu_mag_type type;
float gain[3];
int16_t data[3];
};
struct mgos_imu_acc {
mgos_imu_acc_detect_fn detect;
mgos_imu_acc_start_fn start;
mgos_imu_acc_read_fn read;
struct mgos_i2c *i2c;
uint8_t i2caddr;
enum mgos_imu_acc_type type;
float scale;
int16_t data[3];
};
struct mgos_imu_gyro {
mgos_imu_gyro_detect_fn detect;
mgos_imu_gyro_start_fn start;
mgos_imu_gyro_read_fn read;
struct mgos_i2c *i2c;
uint8_t i2caddr;
enum mgos_imu_gyro_type type;
float scale;
float bias[3];
int16_t data[3];
int16_t temperature;
};
struct mgos_imu;
struct mgos_imu *mgos_imu_create_i2c(struct mgos_i2c *i2c);
bool mgos_imu_add_gyroscope_i2c(struct mgos_imu *sensor, uint8_t i2caddr, enum mgos_imu_gyro_type type);
@ -106,23 +51,26 @@ bool mgos_imu_has_accelerometer(struct mgos_imu *sensor);
bool mgos_imu_has_gyroscope(struct mgos_imu *sensor);
bool mgos_imu_has_magnetometer(struct mgos_imu *sensor);
/* Read all available sensor data in the IMU */
/* Read all available sensor data from the IMU */
bool mgos_imu_read(struct mgos_imu *sensor);
/* Return accelerometer data in units of G */
/* Return accelerometer data in units of m/s/s */
bool mgos_imu_get_accelerometer(struct mgos_imu *sensor, float *x, float *y, float *z);
/* Return accelerometer data in units of deg/sec rotation rate */
bool mgos_imu_get_gyroscope(struct mgos_imu *sensor, float *x, float *y, float *z);
/* Return magnetometer data in units of microTesla */
/* Return magnetometer data in units of microtesla (1 microtesla = 10 milligauss) */
bool mgos_imu_get_magnetometer(struct mgos_imu *sensor, float *x, float *y, float *z);
/* Return compass heading based on magnetometer data, from [0..359] */
bool mgos_imu_get_compass_heading(struct mgos_imu *sensor, uint16_t *heading);
/*
* Initialization function for MGOS -- currently a noop.
*/
bool mgos_imu_init(void);
#ifdef __cplusplus
#ifdef __cplusplus
}
#endif