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