imu.h

 
#ifndef __MBOT_IMU_H__
#define __MBOT_IMU_H__
 
#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
#include <pico/stdlib.h>
#include <hardware/i2c.h>
#include <mbot/defs/mbot_pins.h>
#include <mbot/defs/mbot_params.h>
 
#include <mbot/imu/bhy_uc_driver.h>
#include <mbot/imu/bhy_uc_driver_config.h>
#include <mbot/imu/bhy_uc_driver_types.h>
#include <mbot/imu/bhy_uc_driver_constants.h>
#include <mbot/imu/bhy.h>
#include <mbot/imu/bhy_support.h>
 
#define ACCEL_2_MS2     -0.000299387 //-(1 / 32767) * 9.81
#define GYRO_2_RADS     5.326484731e-07
#define MAG_2_UT        0.0625 // 16LSB/uT not certain about this value
#define QUAT_2_NORM     6.103515625e-05
#define RPY_2_RAD       0.00019174759848570515
 
#define FIFO_SIZE                      70
#define MAX_PACKET_LENGTH              18
#define OUT_BUFFER_SIZE                60
 
typedef struct mbot_bhy_data_t{
    float accel[3];     
    float gyro[3];      
    float mag[3];       
    float quat[4];      
    float rpy[3];       
    int16_t quat_qlty;  
 
    int16_t raw_accel[3];   
    int16_t raw_gyro[3];    
    int16_t raw_mag[3];     
    int16_t raw_quat[4];    
    int16_t raw_rpy[3];     
    float accel_to_ms2;     
    float gyro_to_rads;     
    float mag_to_uT;        
    float quat_to_norm;     
    float rpy_to_rad;       
} mbot_bhy_data_t;
 
typedef struct mbot_bhy_config_t{
    int8_t sample_rate; //12, 25, 50, 100, 200
    int8_t accel_range; // 2, 4, 6, 8 g
    int16_t gyro_range; // 125, 250, 500, 1000, 2000
    int8_t enable_mag;
    int8_t enable_rpy;
    int8_t enable_quat;
} mbot_bhy_config_t;
 
typedef struct bhy_calib_param_t
{
    int16_t  x_offset; 
    int16_t  y_offset; 
    int16_t  z_offset; 
    int16_t  radius;   
    uint8_t  accuracy;
} bhy_calib_param_t;
 
typedef enum {
    BHI160_SAMPLE_RATE_12_5HZ = 12,
    BHI160_SAMPLE_RATE_25HZ = 25,
    BHI160_SAMPLE_RATE_50HZ = 50,
    BHI160_SAMPLE_RATE_100HZ = 100,
    BHI160_SAMPLE_RATE_200HZ = 200,
} BHI160_SampleRate;
 
typedef enum {
    BHI160_ACCEL_RANGE_2G = 2,
    BHI160_ACCEL_RANGE_4G = 4,
    BHI160_ACCEL_RANGE_8G = 8,
    BHI160_ACCEL_RANGE_16G = 16
} BHI160_AccelRange;
 
typedef enum {
    BHI160_GYRO_RANGE_125_DPS = 125,
    BHI160_GYRO_RANGE_250_DPS = 250,
    BHI160_GYRO_RANGE_500_DPS = 500,
    BHI160_GYRO_RANGE_1000_DPS = 1000,
    BHI160_GYRO_RANGE_2000_DPS = 2000
} BHI160_GyroRange;
 
int mbot_imu_init(mbot_bhy_data_t* data, mbot_bhy_config_t config);
void mbot_imu_print(mbot_bhy_data_t data);
mbot_bhy_config_t mbot_imu_default_config(void);
 
 
 
#endif