Initial import of WAVE_ROVER_V1.0

2026-04-23 17:52:46 +02:00
commit bdd2b4315b
28 changed files with 8449 additions and 0 deletions
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+#ifndef _IMU_H_
+#define _IMU_H_
+
+#include "AK09918.h"
+#include "QMI8658.h"
+#include <stdio.h>
+#include <math.h>
+
+typedef struct imu_st_angles_data_tag
+{
+  float fYaw;
+  float fPitch;
+  float fRoll;
+}IMU_ST_ANGLES_DATA;
+
+typedef struct imu_st_sensor_data_float
+{
+  float X;
+  float Y;
+  float Z;
+}IMU_ST_SENSOR_DATA_FLOAT;
+
+void imuInit();
+void imuDataGet(EulerAngles *pstAngles, 
+                IMU_ST_SENSOR_DATA_FLOAT *pstGyroRawData,
+                IMU_ST_SENSOR_DATA_FLOAT *pstAccelRawData,
+                IMU_ST_SENSOR_DATA *pstMagnRawData); 
+bool imuRecalibrate();
+void imuGetMagnOffsets(IMU_ST_SENSOR_DATA *pstMagnOffset);
+void imuSetMagnOffsets(int16_t offsetX, int16_t offsetY, int16_t offsetZ);
+float imuGetTemperature();
+void imuAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
+float invSqrt(float x);
+
+#endif