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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

51
src/mgos_imu.c Normal file
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@@ -0,0 +1,51 @@
/*
* Copyright 2018 Google Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "mgos.h"
#include "mgos_imu_internal.h"
// Private functions follow
// Private functions end
// Public functions follow
struct mgos_imu *mgos_imu_create(struct mgos_i2c *i2c, uint8_t i2caddr) {
struct mgos_imu *sensor;
if (!i2c) {
return NULL;
}
sensor = calloc(1, sizeof(struct mgos_imu));
if (!sensor) {
return NULL;
}
return sensor;
}
void mgos_imu_destroy(struct mgos_imu **sensor) {
if (!*sensor) {
return;
}
free(*sensor);
*sensor = NULL;
return;
}
bool mgos_imu_init(void) {
return true;
}
// Public functions end

88
src/mgos_imu_internal.h Normal file
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@@ -0,0 +1,88 @@
/*
* Copyright 2018 Google Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#pragma once
#include "mgos.h"
#include "mgos_imu.h"
#ifdef __cplusplus
extern "C" {
#endif
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);
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;
};
#ifdef __cplusplus
}
#endif