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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_INVENSENSE_H__
+#define __INERTIALSENSOR_INVENSENSE_H__
+
+#include "SPIDevice.h"
+
+enum Invensense_Type {
+        Invensense_MPU6000=0,
+        Invensense_MPU6500,
+        Invensense_MPU9250,
+        Invensense_ICM20600,
+        Invensense_ICM20608,
+        Invensense_ICM20602,
+        Invensense_ICM20601,
+        Invensense_ICM20789,
+        Invensense_ICM20689,
+};
+
+typedef struct {
+		float accel[3];
+		float gyro[3];
+		uint8_t count;
+} ACCUM_t;
+
+typedef struct {
+    int16_t _raw_temp;
+
+    float temp_sensitivity; // degC/LSB
+    float temp_zero; // degC
+    
+    float _accel_scale;
+
+    GPIO_TypeDef* _drdy;
+    uint16_t _drdy_Pin;
+    SPI_DEV_t* _dev;
+
+    // which sensor type this is
+    enum Invensense_Type _mpu_type;
+
+    // Last status from register user control
+    uint8_t _last_stat_user_ctrl;    
+
+    // buffer for fifo read
+    uint8_t *_fifo_buffer;
+		
+		ACCUM_t _accum;
+		
+		uint32_t accel_clip_count;
+		
+	  float accel[3];
+	  float gyro[3];
+	  float temp_degc;
+
+		const char *name;
+		bool success;
+    int cnt;
+    int pps;
+    int seq;
+	  osMutexId mutex;
+}InertialSensor_Invensense_t;
+
+bool InertialSensor_Invensense_init(InertialSensor_Invensense_t *imu, const char *name, SPI_DEV_t* dev, GPIO_TypeDef* drdy, uint16_t drdy_Pin);
+void InertialSensor_Invensense_update(InertialSensor_Invensense_t *imu);
+void InertialSensor_Invensense_loop(InertialSensor_Invensense_t *imu);
+void InertialSensor_Invensense_monitor(InertialSensor_Invensense_t *imu);
+
+#endif /* __INERTIALSENSOR_INVENSENSE_H__ */
+