串口ok

2024-09-26 22:32:20 +08:00
commit 097089ef4e
323 changed files with 135661 additions and 0 deletions
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+#ifndef __ICM20600_H
+#define __ICM20600_H
+
+#include "SPIDevice.h"
+#include "GPIO_EXTI.h"
+
+typedef struct Imu_ICM20600{
+    const char *name;
+    SPI_DEV_t *_dev;
+    GPIO_EXIT_t *exti;
+
+    float    Accx;        //从ICM20600读出来的Ax
+    float    Accy;        //从ICM20600读出来的Ay
+    float    Accz;        //从ICM20600读出来的Az
+
+    float    Gyrox;       //从ICM20600读出来的Ax
+    float    Gyroy;       //从ICM20600读出来的Ay
+    float    Gyroz;       //从ICM20600读出来的Az
+
+    int32_t  At;          //从ICM20600读出来的温度
+    int read_cnt;
+
+    float gyro_lsb_per_deg_sec;
+    float acc_lsb_per_g;
+
+    // statics
+    int cnt;
+    int last_cnt;
+    int pps;
+} Imu_ICM20600_t;
+
+int Imu_ICM20600_init(Imu_ICM20600_t *Acc, const char *name, SPI_DEV_t *dev, GPIO_EXIT_t *exti);
+bool Imu_ICM20600_update(Imu_ICM20600_t *Acc);
+void Imu_ICM20600_stats(Imu_ICM20600_t *Acc);
+
+
+#endif