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 __INERTIALSENSOR_BMI055_H__
+#define __INERTIALSENSOR_BMI055_H__
+
+#include "SPIDevice.h"
+#include <stdint.h>
+#include <stdbool.h>
+
+typedef struct InertialSensor_BMI088
+{
+	SPI_DEV_t *dev_accel;
+	SPI_DEV_t *dev_gyro;
+	const char *name;
+	bool success;
+
+	uint32_t accel_error_count;
+	uint32_t gyro_error_count;
+	int temperature_counter;
+
+	float accel[3];
+	float gyro[3];
+	float temp_degc;
+	uint8_t accel_seq;
+	uint8_t gyro_seq;
+
+	uint32_t accel_count;
+	uint32_t gyro_count;
+	uint32_t accel_pps;
+	uint32_t gyro_pps;
+
+	bool done_accel_config;
+	uint32_t accel_config_count;
+} InertialSensor_BMI088_t;
+
+bool InertialSensor_BMI088_init(InertialSensor_BMI088_t *imu, const char *name, SPI_DEV_t *dev_accel, SPI_DEV_t *dev_gyro);
+void InertialSensor_BMI088_update(InertialSensor_BMI088_t *imu);
+void InertialSensor_BMI088_loop(InertialSensor_BMI088_t *imu);
+void InertialSensor_BMI088_monitor(InertialSensor_BMI088_t *imu);
+
+#endif /* __INERTIALSENSOR_BMI055_H__ */