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