77 lines
2.3 KiB
C
77 lines
2.3 KiB
C
/*
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* Copyright 2018 Google Inc.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#pragma once
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#include "mgos.h"
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#include "mgos_i2c.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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enum mgos_imu_acc_type {
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ACC_NONE = 0,
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ACC_MPU9250
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};
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enum mgos_imu_gyro_type {
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GYRO_NONE = 0,
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GYRO_MPU9250
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};
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enum mgos_imu_mag_type {
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MAG_NONE = 0,
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MAG_AK8963
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};
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struct mgos_imu;
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struct mgos_imu *mgos_imu_create_i2c(struct mgos_i2c *i2c);
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bool mgos_imu_add_gyroscope_i2c(struct mgos_imu *sensor, uint8_t i2caddr, enum mgos_imu_gyro_type type);
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bool mgos_imu_add_accelerometer_i2c(struct mgos_imu *sensor, uint8_t i2caddr, enum mgos_imu_acc_type type);
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bool mgos_imu_add_magnetometer_i2c(struct mgos_imu *sensor, uint8_t i2caddr, enum mgos_imu_mag_type type);
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void mgos_imu_destroy(struct mgos_imu **sensor);
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bool mgos_imu_has_accelerometer(struct mgos_imu *sensor);
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bool mgos_imu_has_gyroscope(struct mgos_imu *sensor);
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bool mgos_imu_has_magnetometer(struct mgos_imu *sensor);
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/* Read all available sensor data from the IMU */
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bool mgos_imu_read(struct mgos_imu *sensor);
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/* Return accelerometer data in units of m/s/s */
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bool mgos_imu_get_accelerometer(struct mgos_imu *sensor, float *x, float *y, float *z);
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/* Return accelerometer data in units of deg/sec rotation rate */
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bool mgos_imu_get_gyroscope(struct mgos_imu *sensor, float *x, float *y, float *z);
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/* Return magnetometer data in units of microtesla (1 microtesla = 10 milligauss) */
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bool mgos_imu_get_magnetometer(struct mgos_imu *sensor, float *x, float *y, float *z);
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/* Return compass heading based on magnetometer data, from [0..359] */
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bool mgos_imu_get_compass_heading(struct mgos_imu *sensor, uint16_t *heading);
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/*
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* Initialization function for MGOS -- currently a noop.
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*/
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bool mgos_imu_init(void);
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#ifdef __cplusplus
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}
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#endif
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