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65 lines
1.9 KiB
65 lines
1.9 KiB
/* |
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* em7180.h |
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* |
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* Created on: Jan 18, 2021 |
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* Author: Daniel Peter Chokola |
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* |
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* Adapted From: |
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* EM7180_LSM6DSM_LIS2MDL_LPS22HB_Butterfly |
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* by: Kris Winer |
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* 06/29/2017 Copyright Tlera Corporation |
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* |
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* Library may be used freely and without limit with attribution. |
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*/ |
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#ifndef EM7180_H_ |
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#define EM7180_H_ |
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/* Includes */ |
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#include <imu_common.h> |
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#include <stdint.h> |
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/* Definitions */ |
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#define EM7180_OK (0) |
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#define EM7180_BAD_ARG (1 << 0) |
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#define EM7180_BAD_COMM (1 << 1) |
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/* Data Structures */ |
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typedef int32_t em7180_status_t; |
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typedef struct em7180_init_s |
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{ |
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uint16_t acc_fs; |
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uint16_t gyro_fs; |
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uint16_t mag_fs; |
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uint8_t q_rate_div; |
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uint8_t mag_rate; |
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uint8_t acc_rate; |
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uint8_t gyro_rate; |
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uint8_t baro_rate; |
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} em7180_init_t; |
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typedef struct em7180_s |
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{ |
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em7180_init_t *init; |
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uint8_t i2c_addr; |
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delay_func_t delay_func; |
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i2c_read_func_t i2c_read_func; |
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i2c_write_func_t i2c_write_func; |
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} em7180_t; |
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/* Function Prototypes */ |
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em7180_status_t em7180_init(em7180_t *em7180, em7180_init_t *init); |
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void em7180_set_delay_cb(em7180_t *em7180, delay_func_t delay_func); |
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void em7180_set_i2c_cbs(em7180_t *em7180, i2c_read_func_t i2c_read_func, |
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i2c_write_func_t i2c_write_func, uint8_t dev_addr); |
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em7180_status_t em7180_config(em7180_t *em7180); |
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void em7180_reset(em7180_t *em7180); |
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void em7180_passthrough_enable(em7180_t *em7180); |
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void em7180_passthrough_disable(em7180_t *em7180); |
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em7180_status_t em7180_quatdata_get(em7180_t *em7180, float *destination); |
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em7180_status_t em7180_acceldata_get(em7180_t *em7180, int16_t *destination); |
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em7180_status_t em7180_gyrodata_get(em7180_t *em7180, int16_t *destination); |
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em7180_status_t em7180_magdata_get(em7180_t *em7180, int16_t *destination); |
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em7180_status_t em7180_barodata_get(em7180_t *em7180, int16_t *destination); |
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em7180_status_t em7180_tempdata_get(em7180_t *em7180, int16_t *destination); |
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#endif /* EM7180_H_ */
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