Реализован уровень обработки данных драйвера IMU

Source/Devices/IIMU.h

@@ -3,7 +3,64 @@
 #ifndef IIMU_H
 #define IIMU_H
 
+#pragma pack(push, 1)
+struct IMU_Data
+{
+  long Temp;
+  struct { float X, Y, Z; } Acc;
+  struct { float X, Y, Z; } RawAcc;
+  struct { float X, Y, Z; } Gyr;
+  struct { float X, Y, Z; } RawGyr;
+  struct { float X, Y, Z; } Mag;
+  struct { float X, Y, Z; } RawMag;
+};
 
+struct XYZ_Calib
+{
+  short X[2] = {-4096, 4096};
+  short Y[2] = {-4096, 4096};
+  short Z[2] = {-4096, 4096};
+};
 
+struct XYZ_IMU_DATA
+{
+  char Writed = sizeof(XYZ_IMU_DATA);
+  XYZ_Calib Acc;
+};
+
+struct IMU_Calib_Data
+{
+  bool AllowedCalib = false;
+  bool AccCalibNeed = true;
+  XYZ_IMU_DATA Data;
+};
+
+struct IMU_Info
+{
+  unsigned char Addrs[1]        = {0x68};
+  unsigned char WhoIAMReg[1]    = {0x00};
+  unsigned char ExpectedIDs[1]  = {0xEA};
+};
+#pragma pack(pop)
+
+typedef void (*IMU_Proc)(IMU_Data&);
+
+extern IMU_Calib_Data CalibDataIMU;
+
+void IMU_SetReg(unsigned char Addr, unsigned char Reg, unsigned char Value);
+
+unsigned char IMU_GetReg(unsigned char Addr, unsigned char Reg);
+
+class IIMU
+{
+protected:
+  virtual ~IIMU() = default;
+public:
+  virtual void Init() = 0;
+  virtual void Get(IMU_Data& Data) = 0;
+  virtual void GetAsync(const IMU_Proc& DoneProc) = 0;
+};
+
+IIMU* TryFindIMU(bool& find);
 
 #endif