21 lines
423 B
C
21 lines
423 B
C
/*
|
|
* Copyright 2022 Oleg Borodin <borodin@unix7.org>
|
|
*/
|
|
|
|
|
|
#include <stdint.h>
|
|
#include <geometry.h>
|
|
|
|
typedef struct {
|
|
uint32_t bus;
|
|
uint8_t addr;
|
|
double gxe;
|
|
double gye;
|
|
double gze;
|
|
} imu_t;
|
|
|
|
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);
|