85 lines
2.0 KiB
C
85 lines
2.0 KiB
C
#ifndef BMI088_H
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#define BMI088_H
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/* Includes ----------------------------------------------------------------- */
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#include <stdbool.h>
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#include <stdint.h>
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#include "ahrs.h"
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#include "device\device.h"
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typedef struct {
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struct {
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float x;
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float y;
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float z;
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} gyro_offset; /* 陀螺仪偏置 */
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} BMI088_Cali_t; /* BMI088校准数据 */
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typedef struct {
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AHRS_Accl_t accl;
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AHRS_Gyro_t gyro;
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float temp; /* 温度 */
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AHRS_Accl_t filtered_accl;
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AHRS_Gyro_t filtered_gyro;
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const BMI088_Cali_t *cali;
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} BMI088_t;
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typedef struct {
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struct {
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float x;
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float y;
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float z;
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} magn_offset; /* 磁力计偏置 */
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struct {
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float x;
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float y;
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float z;
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} magn_scale; /* 磁力计缩放 */
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} IST8310_Cali_t; /* IST8310校准数据 */
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typedef struct {
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AHRS_Magn_t magn;
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const IST8310_Cali_t *cali;
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} IST8310_t;
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/* Exported functions prototypes -------------------------------------------- */
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int8_t BMI088_Init(BMI088_t *bmi088,const BMI088_Cali_t *cali);
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int8_t BMI088_Restart(void);
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void BMI088_AcclIntCallback(void);
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void BMI088_GyroIntCallback(void);
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bool BMI088_GyroStable(AHRS_Gyro_t *gyro);
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/* Sensor use right-handed coordinate system. */
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/*
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x < R(logo)
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y
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UP is z
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All implementation should follow this rule.
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*/
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uint32_t BMI088_WaitNew(void);
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/*
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BMI088的Accl和Gyro共用同一个DMA通道，所以一次只能读一个传感器。
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即BMI088_AcclStartDmaRecv() 和 BMI088_AcclWaitDmaCplt() 中间不能
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出现 BMI088_GyroStartDmaRecv()。
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*/
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int8_t BMI088_AcclStartDmaRecv(void);
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uint32_t BMI088_AcclWaitDmaCplt(void);
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int8_t BMI088_GyroStartDmaRecv(void);
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uint32_t BMI088_GyroWaitDmaCplt(void);
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int8_t BMI088_ParseAccl(BMI088_t *bmi088);
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int8_t BMI088_ParseGyro(BMI088_t *bmi088);
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float BMI088_GetUpdateFreq(BMI088_t *bmi088);
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int8_t BMI088_calibration(BMI088_t *bmi088);
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int8_t BMI088_Waiting_Temp_Ready(BMI088_t *bmi088);
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uint32_t BMI088_TempWaitCplt(void);
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#endif
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