79 lines
1.6 KiB
C
79 lines
1.6 KiB
C
#pragma once
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#ifndef IMU_H
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#define IMU_H
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#include "stm32g431xx.h"
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#define ICM_ADDR 0x68
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#define REG_PWR_MGMT_1 0x06
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#define REG_BANK_SEL 0x7F
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#define REG_GYRO_CONFIG_1 0x01
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#define REG_ACCEL_CONFIG 0x14
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#define FREQUENCY 100.0f
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#define IMU_DT 1.0f / FREQUENCY
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#define GYRO_FS_SEL_2000 3 << 1
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#define GYRO_DLPFCFG_73 3 << 3
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#define GYRO_FCHOICE_ON 1
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#define GYRO_FCHOICE_OFF 0
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#define ACCEL_FS_SEL_4 1 << 1
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#define ACCEL_FS_SEL_8 2 << 1
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#define ACCEL_DLPFCFG_69 3 << 3
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#define ACCEL_FCHOICE_ON 1
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#define ACCEL_FCHOICE_OFF 0
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static volatile uint8_t i2c_busy = 0;
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static uint8_t i2c_buf[16];
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static uint8_t i2c_len = 0;
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static uint8_t i2c_reg = 0;
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static uint8_t i2c_addr = 0;
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typedef struct
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{
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int16_t ax, ay, az; // lsb
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int16_t gx, gy, gz; // lsb
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} imu_raw_t;
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/*typedef struct I2C_Request
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{
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uint8_t addr;
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uint8_t reg;
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uint8_t *buf;
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uint8_t len;
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void (*callback)(uint8_t*);
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struct I2C_Request* next;
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} I2C_Request;
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static I2C_Request* i2c_head = 0;
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static uint8_t i2c_busy = 0;*/
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static void (*i2c_callback)(uint8_t* buf) = 0;
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void imu_pow_init();
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void i2c_gpio_init();
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void i2c1_init();
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void imu_init();
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void imu_tim6_init(const uint16_t freq);
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void i2c_read(uint8_t addr, uint8_t reg, uint8_t* buf, uint8_t len);
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/*void i2c_enqueue(I2C_Request* req);
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void i2c_start_next();*/
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void i2c_read_async(uint8_t addr, uint8_t reg, uint8_t len, void (*cb)(uint8_t*));
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void i2c_write(uint8_t addr, uint8_t reg, uint8_t data);
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void imu_read_raw(imu_raw_t* data);
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static void i2c_wait_idle(I2C_TypeDef* i2c);
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#endif |