add firmware

dev/ori.h

@@ -0,0 +1,29 @@
+#pragma once
+
+struct ORI_Data
+{
+  unsigned long Freq;
+  //---
+  struct { short Acc; short Bar; } Temp;
+  //---
+  struct { short X, Y, Z; } Acc;
+  struct { short X, Y, Z; } Gyr;
+  struct { short X, Y, Z; } Mag;
+  //---
+  struct { float Bar, Alt, Filt, Speed, Acc; } Bar;
+  //---
+  bool Upside = false;
+  float Pitch, Roll, Yaw;
+  float SinX, SinY, CosZ;
+  //---
+  struct { float X, Y, Z; } Iner;
+  struct { float X, Y, Z; } Speed;
+  struct { float X, Y, Z; } Pos;
+};
+
+extern ORI_Data DataORI;
+
+void ORI_Init();
+void ORI_Get(ORI_Data& Data, const unsigned long Freq, struct IMU_Data& IMU, struct BAR_Data BAR);
+
+void ORI_TiltCompAcc(float Pitch, float Roll, short Acc[3], ORI_Data& Data);