Initial commit

Source/BSP/Inc/imu_processing.h

@@ -0,0 +1,23 @@
+#ifndef IMU_PROCESSING_H
+#define IMU_PROCESSING_H
+
+#include "imu.h"
+
+
+#define ACCEL_SENS_SCALE_FACTOR         8192.0f
+#define GYRO_SENS_SCALE_FACTOR          16.4f
+#define PI                              3.14159265359f
+
+typedef struct
+{
+  float ax, ay, az; // g
+  float gx, gy, gz; // dps
+} imu_scaled_t;
+
+void imu_processing_init();
+
+void imu_read_scaled(imu_scaled_t* out);
+
+void imu_calibrate();
+
+#endif