First stab at generic gyro/mag/accel -- mgos_imu.h

include/mgos_imu.h

@@ -0,0 +1,128 @@
+/*
+ * 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"
+
+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);
+
+enum mgos_imu_acc_type {
+  ACC_NONE = 0,
+  ACC_MPU9250
+};
+
+enum mgos_imu_gyro_type {
+  GYRO_NONE = 0,
+  GYRO_MPU9250
+};
+
+enum mgos_imu_mag_type {
+  MAG_NONE = 0,
+  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 *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);
+bool mgos_imu_add_accelerometer_i2c(struct mgos_imu *sensor, uint8_t i2caddr, enum mgos_imu_acc_type type);
+bool mgos_imu_add_magnetometer_i2c(struct mgos_imu *sensor, uint8_t i2caddr, enum mgos_imu_mag_type type);
+
+void mgos_imu_destroy(struct mgos_imu **sensor);
+
+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 */
+bool mgos_imu_read(struct mgos_imu *sensor);
+
+/* Return accelerometer data in units of G */
+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 */
+bool mgos_imu_get_magnetometer(struct mgos_imu *sensor, float *x, float *y, float *z);
+
+/*
+ * Initialization function for MGOS -- currently a noop.
+ */
+bool mgos_imu_init(void);
+
+  #ifdef __cplusplus
+}
+#endif

src/main.c

@@ -22,6 +22,7 @@
 #include "mgos_mcp9808.h"
 #include "mgos_ccs811.h"
 #include "mgos_mpu9250.h"
+#include "mgos_imu.h"
 #include <fcntl.h>
 #include <sys/ioctl.h>