mirror of https://github.com/rusefi/bldc.git
46 lines
1.4 KiB
C
46 lines
1.4 KiB
C
/*
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Copyright 2019 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef IMU_BMI160_WRAPPER_H_
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#define IMU_BMI160_WRAPPER_H_
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#include "ch.h"
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#include "hal.h"
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#include <stdint.h>
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#include <stdbool.h>
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#include "i2c_bb.h"
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#include "spi_bb.h"
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#include "bmi160.h"
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typedef struct {
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void(*read_callback)(float *accel, float *gyro, float *mag);
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struct bmi160_dev sensor;
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volatile bool is_running;
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volatile bool should_stop;
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int rate_hz;
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} BMI_STATE;
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void bmi160_wrapper_init(BMI_STATE *s, stkalign_t *work_area, size_t work_area_size);
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void bmi160_wrapper_set_read_callback(BMI_STATE *s, void(*func)(float *accel, float *gyro, float *mag));
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void bmi160_wrapper_stop(BMI_STATE *s);
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#endif /* IMU_BMI160_WRAPPER_H_ */
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