openmv/lib/alif/components/Include/Driver_IMU.h
iabdalkader daf2bb30da misc: Restructure repo.
Signed-off-by: iabdalkader <i.abdalkader@gmail.com>
2025-04-13 08:28:34 +02:00

123 lines
4.6 KiB
C

/* Copyright (C) 2024 Alif Semiconductor - All Rights Reserved.
* Use, distribution and modification of this code is permitted under the
* terms stated in the Alif Semiconductor Software License Agreement
*
* You should have received a copy of the Alif Semiconductor Software
* License Agreement with this file. If not, please write to:
* contact@alifsemi.com, or visit: https://alifsemi.com/license
*/
/******************************************************************************
* @file Driver_IMU.h
* @author Shreehari H K
* @email shreehari.hk@alifsemi.com
* @version V1.0.0
* @date 02-July-2024
* @brief Driver for Inertial Measurement System
* @bug None.
* @Note None.
******************************************************************************/
#ifndef DRIVER_IMU_H_
#define DRIVER_IMU_H_
#ifdef __cplusplus
extern "C"
{
#endif
#include "Driver_Common.h"
#define ARM_IMU_API_VERSION ARM_DRIVER_VERSION_MAJOR_MINOR(1,0) /* API version */
/****** IMU Control Codes *****/
#define IMU_GET_ACCELEROMETER_DATA (1UL << 0) ///< Get Accelerometer data; arg: addr of variable (of type ARM_IMU_COORDINATES)
#define IMU_GET_GYROSCOPE_DATA (1UL << 1) ///< Get Gyroscope data; arg: addr of variable (of type ARM_IMU_COORDINATES)
#define IMU_GET_MAGNETOMETER_DATA (1UL << 2) ///< Get Magnetometer data; arg: addr of variable (of type ARM_IMU_COORDINATES)
#define IMU_GET_TEMPERATURE_DATA (1UL << 3) ///< Get Temperature sensor data; arg: addr of variable (of type float)
/**
\brief IMU Coordinates
*/
typedef struct _ARM_IMU_COORDINATES
{
int16_t x;
int16_t y;
int16_t z;
} ARM_IMU_COORDINATES;
/**
\brief IMU Status
*/
typedef struct _ARM_IMU_STATUS
{
uint32_t data_rcvd :1; ///< Flag to indicate data reception
uint32_t reserved :31; ///< Reserved (must be zero)
} ARM_IMU_STATUS;
/**
\brief IMU Driver Capabilities.
*/
typedef struct _ARM_IMU_CAPABILITIES
{
uint32_t accel : 1; ///< Accelerometer data support
uint32_t gyro : 1; ///< Gyroscope data support
uint32_t magneto : 1; ///< Magnetometer data support
uint32_t temp_sens : 1; ///< Temperature sensor data support (Add-on feature)
uint32_t reserved : 28; ///< Reserved (must be zero)
} ARM_IMU_CAPABILITIES;
// Function documentation
/*
\fn ARM_DRIVER_VERSION GetVersion (void)
\brief Get IMU driver version.
\return \ref ARM_DRIVER_VERSION
\fn ARM_IMU_CAPABILITIES GetCapabilities (void)
\brief Get IMU driver capabilities.
\return \ref ARM_IMU_CAPABILITIES
\fn ARM_IMU_STATUS GetStatus (void)
\brief Get IMU driver status.
\return \ref ARM_IMU_STATUS
\fn int32_t Initialize (void)
\brief Initialize IMU Interface.
\param[in] none.
\return \ref execution_status
\fn int32_t Uninitialize (void)
\brief uninitialize IMU Interface.
\return \ref execution_status
\fn int32_t PowerControl (ARM_POWER_STATE state)
\brief Control IMU Interface Power.
\param[in] state Power state
\return \ref execution_status
\fn int32_t Control (uint32_t control, uint32_t arg)
\brief Control IMU Interface
\param[in] control Operation
\param[in] arg Argument of operation
\return \ref execution_status
*/
/**
\brief IMU Operations.
*/
typedef struct _ARM_DRIVER_IMU{
ARM_DRIVER_VERSION (*GetVersion) (void); ///< Pointer to \ref ARM_IMU_GetVersion : Get driver version.
ARM_IMU_CAPABILITIES (*GetCapabilities) (void); ///< Pointer to \ref ARM_IMU_GetCapabilities : Get driver capabilities.
ARM_IMU_STATUS (*GetStatus) (void); ///< Pointer to \ref ARM_IMU_GetStatus : Get driver status.
int32_t (*Initialize) (void); ///< Pointer to \ref ARM_IMU_Initialize : Initialize IMU Interface.
int32_t (*Uninitialize) (void); ///< Pointer to \ref ARM_IMU_Uninitialize : Un-initialize IMU Interface.
int32_t (*PowerControl) (ARM_POWER_STATE state); ///< Pointer to \ref ARM_IMU_PowerControl : Control IMU Interface Power.
int32_t (*Control) (uint32_t control, uint32_t arg); ///< Pointer to \ref ARM_IMU_Control : Control IMU Interface.
} const ARM_DRIVER_IMU;
#ifdef __cplusplus
}
#endif
#endif /* DRIVER_IMU_H_ */