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
@@ -4,22 +4,17 @@


 #include <stdint.h>
+#include <geometry.h>

 typedef struct {
-    double ax;
-    double ay;
-    double az;
-    double gx;
-    double gy;
-    double gz;
-} mpu_value_t;
+    uint32_t bus;
+    uint8_t  addr;
+    double   gxe;
+    double   gye;
+    double   gze;
+} imu_t;

-typedef struct {
-    uint32_t    bus;
-    uint8_t     addr;
-    mpu_value_t err;
-} mpu_t;
-
-void mpu_setup(mpu_t* mpu, uint32_t i2c, uint8_t addr);
-void mpu_calibrate(mpu_t* mpu, int count);
-void mpu_read(mpu_t* mpu, mpu_value_t* val);
+void imu_setup(imu_t* imu, uint32_t i2c, uint8_t addr);
+void imu_calibrate(imu_t* imu, int count);
+void imu_gettilt(imu_t* imu, int loops, eulerangle_t* a);
+void imu_getvec(imu_t* imu, imuvec_t* val);