hdw-imu.h

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#ifndef _HDW_IMU_H_
#define _HDW_IMU_H_
 
#include <stdint.h>
 
#include <hal/gpio_types.h>
#include <soc/gpio_num.h>
#include <esp_err.h>
 
#include "quaternions.h"
 
typedef struct
{
    int32_t temp;
    uint32_t computetime;
    uint32_t performCal; // 1 if expecting a zero cal.
 
    // Quats are wxyz.
    // You can take a vector, in controller space, rotate by this quat, and you get it in world space.
    float fqQuatLast[4]; // Delta
    float fqQuat[4];     // Absolute
 
    // The last raw accelerometer (NOT FUSED)
    float fvLastAccelRaw[3];
 
    // Bias for all of the euler angles.
    float fvBias[3];
 
    // Used for calibration
    float fvDeviation[3];
    float fvAverage[3];
 
    uint32_t sampCount;
 
    // For debug
    int lastreadr;
    int32_t gyroaccum[3];
    int16_t gyrolast[3];
    int16_t accellast[3];
    float fCorrectLast[3];
} LSM6DSLData;
 
extern LSM6DSLData LSM6DSL;
 
esp_err_t initAccelerometer(gpio_num_t sda, gpio_num_t scl, gpio_pullup_t pullup);
esp_err_t deInitAccelerometer(void);
esp_err_t accelGetAccelVecRaw(int16_t* x, int16_t* y, int16_t* z);
esp_err_t accelGetOrientVec(int16_t* x, int16_t* y, int16_t* z);
esp_err_t accelGetQuaternion(float* q);
esp_err_t accelIntegrate(void);
esp_err_t accelPerformCal(void);
esp_err_t accelGetSteeringAngleDegrees(int16_t* xcomp, int16_t* ycomp);
float accelGetStdDevInCal(void);
void accelSetRegistersAndReset(void);
 
#endif