added geometry.* i2cdev.* madgwick.*

2022-09-07 12:48:01 +02:00
parent f85bc21e21
commit 736f7bd509
10 changed files with 383 additions and 402 deletions
@@ -0,0 +1,41 @@
+/*
+ * Copyright 2022 Oleg Borodin  <borodin@unix7.org>
+ */
+
+#ifndef GEOMETRY_H_QWERTY
+#define GEOMETRY_H_QWERTY
+
+typedef struct {
+    union { double z; double yaw; };
+    union { double y; double pitch; };
+    union { double x; double roll; };
+} eulerangle_t;
+
+
+typedef struct quaternion_s {
+    double w;
+    double x;
+    double y;
+    double z;
+} quaternion_t;
+
+
+typedef struct {
+    double ax;
+    double ay;
+    double az;
+    double gx;
+    double gy;
+    double gz;
+} imuvec_t;
+
+void eulerangle_init(eulerangle_t* a);
+void eulerangle_norm(eulerangle_t* a);
+void eulerangle_todegress(eulerangle_t* a);
+void eulerangle_toradians(eulerangle_t* a);
+
+void quaternion_init(quaternion_t* q);
+void quaternion_toeuler(quaternion_t* q, eulerangle_t* a);
+
+
+#endif