Initial commit

Source/BSP/Inc/imu.h

@@ -0,0 +1,34 @@
+#ifndef IMU_H
+#define IMU_H
+
+#include "stm32g431xx.h"
+
+#define ICM_ADDR                0x68
+#define REG_PWR_MGMT_1          0x06
+#define REG_BANK_SEL            0x7F
+#define REG_GYRO_CONFIG_1       0x01
+#define REG_ACCEL_CONFIG        0x14
+#define IMU_RATE_HZ             1000                    // 1 ms
+#define IMU_DT                  0.002f   // 2 ms
+
+typedef struct
+{
+  int16_t ax, ay, az; // lsb
+  int16_t gx, gy, gz; // lsb
+} imu_raw_t;
+
+void i2c_gpio_init();
+
+void i2c1_init();
+
+void icm_init();
+
+void i2c_read(uint8_t addr, uint8_t reg, uint8_t* buf, uint8_t len);
+
+void i2c_write(uint8_t addr, uint8_t reg, uint8_t data);
+
+void icm_read_raw(imu_raw_t* data);
+
+static void i2c_wait_idle(I2C_TypeDef* i2c);
+
+#endif