49 lines
907 B
C
49 lines
907 B
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 IMU_DT 0.002f // 2 ms
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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_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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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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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();
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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_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 |