65 lines
1.7 KiB
C
65 lines
1.7 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ----------------------------------------------------------------- */
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#include <stdbool.h>
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#include <stdint.h>
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#include "component\ahrs.h"
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#include "device\device.h"
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/* Exported constants ------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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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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const BMI088_Cali_t *cali;
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} BMI088_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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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();
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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();
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uint32_t BMI088_AcclWaitDmaCplt();
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int8_t BMI088_GyroStartDmaRecv();
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uint32_t BMI088_GyroWaitDmaCplt();
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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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#ifdef __cplusplus
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}
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#endif
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