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d0ad1b014c
* IMU Updates Updated BMI270 and MPU6886 with the mount-matrix. Updated devices i can test with the mount-matrix. papers3, stackchan (cores3), sticks3, tab5, waveshare-s3-lcd-13, waveshare-s3-lcd-128 Devices not changed and not tested because i don't own them are: MPU6886 - core2, stickc-plus2. BMI270 - cardputer-adv * Update device.properties * No USB here! CH343P
52 lines
1.4 KiB
C
52 lines
1.4 KiB
C
// SPDX-License-Identifier: Apache-2.0
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#pragma once
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#include <stdint.h>
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#include <tactility/drivers/imu.h>
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#include <tactility/error.h>
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struct Device;
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#ifdef __cplusplus
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extern "C" {
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#endif
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struct Mpu6886Config {
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/** Address on bus */
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uint8_t address;
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/**
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* Row-major 3x3 rotation matrix mapping the sensor frame onto the device frame (Linux IIO
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* "mount-matrix" convention: `out[i] = m[i * 3] * x + m[i * 3 + 1] * y + m[i * 3 + 2] * z`).
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* Identity means the sensor frame already matches the device frame.
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*/
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int32_t mount_matrix[9];
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};
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/**
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* Read accelerometer data only.
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* @param[in] device mpu6886 device
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* @param[out] data Pointer to ImuAccelData to populate (±8g range)
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* @return ERROR_NONE on success
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*/
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error_t mpu6886_read_accel(struct Device* device, struct ImuAccelData* data);
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/**
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* Read gyroscope data only.
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* @param[in] device mpu6886 device
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* @param[out] data Pointer to ImuGyroData to populate (±2000°/s range)
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* @return ERROR_NONE on success
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*/
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error_t mpu6886_read_gyro(struct Device* device, struct ImuGyroData* data);
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/**
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* Read the chip's on-die temperature.
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* @param[in] device mpu6886 device
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* @param[out] temperature_c Pointer to store the temperature, in °C
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* @return ERROR_NONE on success
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*/
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error_t mpu6886_read_temperature(struct Device* device, float* temperature_c);
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#ifdef __cplusplus
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}
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#endif
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