mirror of
https://github.com/ByteWelder/Tactility.git
synced 2026-10-17 10:55:06 +00:00
78 lines
2.5 KiB
C
78 lines
2.5 KiB
C
// SPDX-License-Identifier: Apache-2.0
|
|
#pragma once
|
|
|
|
#include <tactility/device.h>
|
|
#include <tactility/error.h>
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
struct ImuAccelData {
|
|
float ax, ay, az; // acceleration, in g
|
|
};
|
|
|
|
struct ImuGyroData {
|
|
float gx, gy, gz; // angular rate, in °/s
|
|
};
|
|
|
|
/**
|
|
* @brief API for IMU (accelerometer + gyroscope) drivers.
|
|
*
|
|
* @note read_accel(), read_gyro() and read_temperature() are each a single-register-window I2C
|
|
* transaction. All three are optional per driver: a driver that can't service one leaves it
|
|
* NULL, and the matching imu_read_*() wrapper returns ERROR_NOT_SUPPORTED.
|
|
*/
|
|
struct ImuApi {
|
|
/**
|
|
* @brief Reads only the current accelerometer data.
|
|
* @param[in] device the IMU device
|
|
* @param[out] data pointer to store the current reading
|
|
* @retval ERROR_NOT_SUPPORTED if the driver has no accel-only read path
|
|
* @retval ERROR_NONE on success
|
|
*/
|
|
error_t (*read_accel)(struct Device* device, struct ImuAccelData* data);
|
|
|
|
/**
|
|
* @brief Reads only the current gyroscope data.
|
|
* @param[in] device the IMU device
|
|
* @param[out] data pointer to store the current reading
|
|
* @retval ERROR_NOT_SUPPORTED if the driver has no gyro-only read path
|
|
* @retval ERROR_NONE on success
|
|
*/
|
|
error_t (*read_gyro)(struct Device* device, struct ImuGyroData* data);
|
|
|
|
/**
|
|
* @brief Reads the chip's on-die temperature.
|
|
* @param[in] device the IMU device
|
|
* @param[out] temperature_c pointer to store the current reading, in °C
|
|
* @retval ERROR_NOT_SUPPORTED if the driver has no temperature sensor/register
|
|
* @retval ERROR_NONE on success
|
|
*/
|
|
error_t (*read_temperature)(struct Device* device, float* temperature_c);
|
|
};
|
|
|
|
/**
|
|
* @brief Reads only the current accelerometer data using the specified IMU device.
|
|
* @retval ERROR_NOT_SUPPORTED if the driver has no accel-only read path
|
|
*/
|
|
error_t imu_read_accel(struct Device* device, struct ImuAccelData* data);
|
|
|
|
/**
|
|
* @brief Reads only the current gyroscope data using the specified IMU device.
|
|
* @retval ERROR_NOT_SUPPORTED if the driver has no gyro-only read path
|
|
*/
|
|
error_t imu_read_gyro(struct Device* device, struct ImuGyroData* data);
|
|
|
|
/**
|
|
* @brief Reads the chip's on-die temperature using the specified IMU device, in °C.
|
|
* @retval ERROR_NOT_SUPPORTED if the driver has no temperature sensor/register
|
|
*/
|
|
error_t imu_read_temperature(struct Device* device, float* temperature_c);
|
|
|
|
extern const struct DeviceType IMU_TYPE;
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|