104 lines
2.7 KiB
C
104 lines
2.7 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_imu.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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struct mgos_imu_mag;
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struct mgos_imu_acc;
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struct mgos_imu_gyro;
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struct mgos_imu {
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struct mgos_imu_mag * mag;
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struct mgos_imu_acc * acc;
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struct mgos_imu_gyro *gyro;
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};
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// Magnetometer
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typedef bool (*mgos_imu_mag_detect_fn)(struct mgos_imu_mag *dev);
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typedef bool (*mgos_imu_mag_start_fn)(struct mgos_imu_mag *dev);
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typedef bool (*mgos_imu_mag_read_fn)(struct mgos_imu_mag *dev);
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struct mgos_imu_mag {
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mgos_imu_mag_detect_fn detect;
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mgos_imu_mag_start_fn start;
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mgos_imu_mag_read_fn read;
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struct mgos_i2c * i2c;
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uint8_t i2caddr;
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enum mgos_imu_mag_type type;
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float gain[3];
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int16_t data[3];
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};
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struct mgos_imu_mag *mgos_imu_mag_create(void);
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bool mgos_imu_mag_destroy(struct mgos_imu_mag **mag);
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// Accelerometer
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typedef bool (*mgos_imu_acc_detect_fn)(struct mgos_imu_acc *dev);
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typedef bool (*mgos_imu_acc_start_fn)(struct mgos_imu_acc *dev);
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typedef bool (*mgos_imu_acc_read_fn)(struct mgos_imu_acc *dev);
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struct mgos_imu_acc {
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mgos_imu_acc_detect_fn detect;
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mgos_imu_acc_start_fn start;
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mgos_imu_acc_read_fn read;
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struct mgos_i2c * i2c;
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uint8_t i2caddr;
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enum mgos_imu_acc_type type;
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float scale;
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int16_t data[3];
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};
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struct mgos_imu_acc *mgos_imu_acc_create(void);
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bool mgos_imu_acc_destroy(struct mgos_imu_acc **acc);
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// Gyroscope
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typedef bool (*mgos_imu_gyro_detect_fn)(struct mgos_imu_gyro *dev);
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typedef bool (*mgos_imu_gyro_start_fn)(struct mgos_imu_gyro *dev);
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typedef bool (*mgos_imu_gyro_read_fn)(struct mgos_imu_gyro *dev);
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struct mgos_imu_gyro {
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mgos_imu_gyro_detect_fn detect;
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mgos_imu_gyro_start_fn start;
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mgos_imu_gyro_read_fn read;
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struct mgos_i2c * i2c;
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uint8_t i2caddr;
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enum mgos_imu_gyro_type type;
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float scale;
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float bias[3];
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int16_t data[3];
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int16_t temperature;
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};
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struct mgos_imu_gyro *mgos_imu_gyro_create(void);
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bool mgos_imu_gyro_destroy(struct mgos_imu_gyro **gyro);
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#ifdef __cplusplus
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}
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#endif
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