54 lines
1.3 KiB
C
54 lines
1.3 KiB
C
#ifndef ST_LSM6DSOX_H
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#define ST_LSM6DSOX_H
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#include <stdbool.h>
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#include <stdint.h>
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#include "fusion_measurement.h"
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#ifndef ST_IMU_RAW_QUEUE_CAPACITY
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#define ST_IMU_RAW_QUEUE_CAPACITY 256u
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#endif
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typedef struct {
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uint32_t odr_hz;
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unsigned int accel_full_scale_g;
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unsigned int gyro_full_scale_dps;
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} st_lsm6dsox_config_t;
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typedef struct {
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uint64_t timestamp_ticks;
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int16_t temperature_raw;
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int16_t accel_raw[3];
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int16_t gyro_raw[3];
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uint32_t sequence;
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} st_lsm6dsox_raw_sample_t;
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typedef struct {
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uint64_t irq_count;
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uint64_t sample_count;
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uint64_t invalid_sample_count;
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uint64_t spurious_irq_count;
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uint64_t queue_overflow_count;
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uint64_t estimated_missed_sample_count;
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uint64_t last_timestamp_ticks;
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uint8_t who_am_i;
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bool initialized;
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bool running;
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} st_lsm6dsox_diagnostics_t;
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void st_lsm6dsox_default_config(st_lsm6dsox_config_t* config);
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bool st_lsm6dsox_init(const st_lsm6dsox_config_t* config);
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bool st_lsm6dsox_start(void);
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void st_lsm6dsox_stop(void);
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/* Called only by the common PLIC ISR for BSP_PMOD_IRQ. */
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void st_lsm6dsox_irq_handler(void);
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/* Retained as a no-op so every backend has the same service interface. */
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void st_lsm6dsox_service(void);
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bool st_lsm6dsox_take_measurement(
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fusion_imu_measurement_t* measurement_out);
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void st_lsm6dsox_get_diagnostics(
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st_lsm6dsox_diagnostics_t* diagnostics_out);
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#endif
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