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Common/spi/InertialSensor_Invensensev2.h

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+
+#ifndef __INERTIALSENSOR_INVENSENSE2_H__
+#define __INERTIALSENSOR_INVENSENSE2_H__
+
+#include "SPIDevice.h"
+
+#include <stdint.h>
+
+enum Invensensev2_Type {
+        Invensensev2_ICM20948 = 0,
+        Invensensev2_ICM20648,
+        Invensensev2_ICM20649
+};
+
+typedef struct {
+        float accel[3];
+        float gyro[3];
+        uint8_t accel_count;
+        uint8_t gyro_count;
+} ACCUM2_t;
+
+typedef struct {
+    int16_t _raw_temp;
+
+    float temp_sensitivity; // degC/LSB
+    float temp_zero; // degC
+    
+    float _temp_filtered;
+    float _accel_scale;
+    float _fifo_accel_scale;
+    float _fifo_gyro_scale;
+
+    GPIO_TypeDef* _drdy;
+    uint16_t _drdy_Pin;
+    SPI_DEV_t* _dev;
+    const char* name;
+    bool success;
+
+    // which sensor type this is
+    enum Invensensev2_Type _inv2_type;
+
+    // are we doing more than 1kHz sampling?
+    bool _fast_sampling;
+
+    // what downsampling rate are we using from the FIFO for gyros?
+    uint8_t _gyro_fifo_downsample_rate;
+
+    // what downsampling rate are we using from the FIFO for accels?
+    uint8_t _accel_fifo_downsample_rate;
+
+    // what rate are we generating samples into the backend for gyros?
+    uint16_t _gyro_backend_rate_hz;
+
+    // what rate are we generating samples into the backend for accels?
+    uint16_t _accel_backend_rate_hz;
+
+    // Last status from register user control
+    uint8_t _last_stat_user_ctrl;    
+
+    // buffer for fifo read
+    uint8_t *_fifo_buffer;
+
+    uint8_t _current_bank;
+    float _clip_limit;
+
+    /*
+      accumulators for sensor_rate sampling
+      See description in _accumulate_sensor_rate_sampling()
+    */
+    ACCUM2_t _accum;
+} InertialSensor_Invensensev2_t;
+
+bool InertialSensor_Invensensev2_init(InertialSensor_Invensensev2_t *imu, const char *name, SPI_DEV_t* dev, GPIO_TypeDef* drdy, uint16_t drdy_Pin);
+
+void InertialSensor_Invensensev2_update(InertialSensor_Invensensev2_t *imu);
+
+#endif /* __INERTIALSENSOR_INVENSENSE2_H__ */
+