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Раджаб Бисултанов
2026-04-09 14:38:38 +03:00
parent 9948fc6497
commit 941d3c44bb
5 changed files with 72 additions and 63 deletions
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15
Source/BSP/Inc/imu.h
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@@ -24,11 +24,11 @@
#define ACCEL_FCHOICE_ON 1
#define ACCEL_FCHOICE_OFF 0
/*static volatile uint8_t i2c_busy = 0;
static volatile uint8_t i2c_busy = 0;
static uint8_t i2c_buf[16];
static uint8_t i2c_len = 0;
static uint8_t i2c_reg = 0;
static uint8_t i2c_addr = 0;*/
static uint8_t i2c_addr = 0;
typedef struct
{
@@ -36,7 +36,7 @@ typedef struct
int16_t gx, gy, gz; // lsb
} imu_raw_t;
typedef struct I2C_Request
/*typedef struct I2C_Request
{
uint8_t addr;
uint8_t reg;
@@ -49,9 +49,9 @@ typedef struct I2C_Request
} I2C_Request;
static I2C_Request* i2c_head = 0;
static uint8_t i2c_busy = 0;
static uint8_t i2c_busy = 0;*/
//static void (*i2c_callback)(uint8_t* buf) = 0;
static void (*i2c_callback)(uint8_t* buf) = 0;
void imu_pow_init();
@@ -65,8 +65,9 @@ void imu_tim6_init(const uint16_t freq);
void i2c_read(uint8_t addr, uint8_t reg, uint8_t* buf, uint8_t len);
void i2c_enqueue(I2C_Request* req);
void i2c_start_next();
/*void i2c_enqueue(I2C_Request* req);
void i2c_start_next();*/
void i2c_read_async(uint8_t addr, uint8_t reg, uint8_t len, void (*cb)(uint8_t*));
void i2c_write(uint8_t addr, uint8_t reg, uint8_t data);