36 lines
899 B
C
36 lines
899 B
C
#ifndef _IMU_H_
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#define _IMU_H_
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#include "AK09918.h"
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#include "QMI8658.h"
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#include <stdio.h>
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#include <math.h>
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typedef struct imu_st_angles_data_tag
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{
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float fYaw;
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float fPitch;
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float fRoll;
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}IMU_ST_ANGLES_DATA;
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typedef struct imu_st_sensor_data_float
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{
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float X;
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float Y;
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float Z;
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}IMU_ST_SENSOR_DATA_FLOAT;
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void imuInit();
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void imuDataGet(EulerAngles *pstAngles,
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IMU_ST_SENSOR_DATA_FLOAT *pstGyroRawData,
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IMU_ST_SENSOR_DATA_FLOAT *pstAccelRawData,
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IMU_ST_SENSOR_DATA *pstMagnRawData);
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bool imuRecalibrate();
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void imuGetMagnOffsets(IMU_ST_SENSOR_DATA *pstMagnOffset);
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void imuSetMagnOffsets(int16_t offsetX, int16_t offsetY, int16_t offsetZ);
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float imuGetTemperature();
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void imuAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
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float invSqrt(float x);
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#endif
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