串口ok

2024-09-26 22:32:20 +08:00
commit 097089ef4e
323 changed files with 135661 additions and 0 deletions
@@ -0,0 +1,52 @@
+
+#ifndef __INERTIALSENSOR_ADIS1647x_H__
+#define __INERTIALSENSOR_ADIS1647x_H__
+
+#include "SPIDevice.h"
+#include "GPIO_EXTI.h"
+#include <stdint.h>
+#include <stdbool.h>
+
+typedef struct
+{
+  const char *name;
+  bool success;
+  int crc_err;
+  int seq_err;
+  int comm_err;
+  int good_cnt;
+  int crc_pps;
+  int seq_pps;
+  int comm_pps;
+  int good_pps;
+
+  SPI_DEV_t *dev;
+  GPIO_EXIT_t *drdy;
+
+  uint16_t last_counter;
+  bool done_first_read;
+  float temp_sum;
+  uint8_t temp_count;
+
+  float accel_scale;
+  float gyro_scale;
+  float _clip_limit;
+
+  float accel[3];
+  float gyro[3];
+  float temp;
+  uint8_t seq;
+} InertialSensor_ADIS1647x_t;
+
+bool InertialSensor_ADIS1647x_init(InertialSensor_ADIS1647x_t *imu,
+                                   const char *name,
+                                   SPI_DEV_t *dev,
+                                   GPIO_EXIT_t *drdy);
+
+void InertialSensor_ADIS1647x_loop(InertialSensor_ADIS1647x_t *imu);
+
+void InertialSensor_ADIS1647x_update(InertialSensor_ADIS1647x_t *imu);
+
+void InertialSensor_ADIS1647x_monitor(InertialSensor_ADIS1647x_t *imu);
+
+#endif /* __INERTIALSENSOR_ADIS1647x_H__ */