49 lines
1.1 KiB
C
49 lines
1.1 KiB
C
|
#pragma once
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
extern "C" {
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/* Includes ----------------------------------------------------------------- */
|
||
|
|
#include <cmsis_os2.h>
|
||
|
|
#include <stdbool.h>
|
||
|
|
#include <stdint.h>
|
||
|
|
|
||
|
|
#include "component\ahrs.h"
|
||
|
|
#include "device\device.h"
|
||
|
|
|
||
|
|
/* Exported constants ------------------------------------------------------- */
|
||
|
|
/* Exported macro ----------------------------------------------------------- */
|
||
|
|
/* Exported types ----------------------------------------------------------- */
|
||
|
|
typedef struct {
|
||
|
|
struct {
|
||
|
|
float x;
|
||
|
|
float y;
|
||
|
|
float z;
|
||
|
|
} magn_offset; /* 磁力计偏置 */
|
||
|
|
|
||
|
|
struct {
|
||
|
|
float x;
|
||
|
|
float y;
|
||
|
|
float z;
|
||
|
|
} magn_scale; /* 磁力计缩放 */
|
||
|
|
} IST8310_Cali_t; /* IST8310校准数据 */
|
||
|
|
|
||
|
|
typedef struct {
|
||
|
|
AHRS_Magn_t magn;
|
||
|
|
const IST8310_Cali_t *cali;
|
||
|
|
} IST8310_t;
|
||
|
|
|
||
|
|
/* Exported functions prototypes -------------------------------------------- */
|
||
|
|
int8_t IST8310_Init(IST8310_t *ist8310, const IST8310_Cali_t *cali);
|
||
|
|
int8_t IST8310_Restart(void);
|
||
|
|
|
||
|
|
bool IST8310_WaitNew(uint32_t timeout);
|
||
|
|
int8_t IST8310_StartDmaRecv();
|
||
|
|
uint32_t IST8310_WaitDmaCplt();
|
||
|
|
int8_t IST8310_Parse(IST8310_t *ist8310);
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif
|