38 lines
888 B
C
38 lines
888 B
C
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#ifndef __ICM20600_H
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#define __ICM20600_H
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#include "SPIDevice.h"
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#include "GPIO_EXTI.h"
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typedef struct Imu_ICM20600{
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const char *name;
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SPI_DEV_t *_dev;
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GPIO_EXIT_t *exti;
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float Accx; //从ICM20600读出来的Ax
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float Accy; //从ICM20600读出来的Ay
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float Accz; //从ICM20600读出来的Az
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float Gyrox; //从ICM20600读出来的Ax
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float Gyroy; //从ICM20600读出来的Ay
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float Gyroz; //从ICM20600读出来的Az
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int32_t At; //从ICM20600读出来的温度
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int read_cnt;
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float gyro_lsb_per_deg_sec;
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float acc_lsb_per_g;
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// statics
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int cnt;
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int last_cnt;
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int pps;
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} Imu_ICM20600_t;
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int Imu_ICM20600_init(Imu_ICM20600_t *Acc, const char *name, SPI_DEV_t *dev, GPIO_EXIT_t *exti);
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bool Imu_ICM20600_update(Imu_ICM20600_t *Acc);
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void Imu_ICM20600_stats(Imu_ICM20600_t *Acc);
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#endif
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