six_axis_sensor.h

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 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
  *  _____.___.                 .___                    .__.__      *
  *  \__  |   | ____   ____   __| _/___________    _____|__|  |     *
  *   /   |   |/ ___\ / ___\ / __ |\_  __ \__  \  /  ___/  |  |     *
  *   \____   / /_/  > /_/  > /_/ | |  | \// __ \_\___ \|  |  |__   *
  *   / ______\___  /\___  /\____ | |__|  (____  /____  >__|____/   *
  *   \/     /_____//_____/      \/            \/     \/            *
  *                         - Yggdrasil -                           *
  * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
  * This software can be used by students and other personal of the *
  * Bern University of Applied Sciences under the terms of the MIT  *
  * license.                                                        *
  * For other persons this software is under the terms of the GNU   *
  * General Public License version 2.                               *
  *                                                                 *
  * Copyright © 2021, Bern University of Applied Sciences.     *
  * All rights reserved.                                            *
  * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
#pragma once
 
#include <c/yggdrasil/types.h>
 
struct Coordinate {
    float x, y, z;
};
 
struct Orientation {
    float roll;     
    float pitch;    
};
 
enum SixAxisSensorAccelFullScaleRange {
    SixAxisSensorAccelFullScaleRange_2G = 0x03,     
    SixAxisSensorAccelFullScaleRange_4G = 0x02,     
    SixAxisSensorAccelFullScaleRange_8G = 0x01,     
    SixAxisSensorAccelFullScaleRange_16G = 0x00     
};
 
enum SixAxisSensorGyroFullScaleRange {
    SixAxisSensorGyroFullScaleRange_2000DPS   = 0x00,   
    SixAxisSensorGyroFullScaleRange_1000DPS   = 0x01,   
    SixAxisSensorGyroFullScaleRange_500DPS    = 0x02,   
    SixAxisSensorGyroFullScaleRange_250DPS    = 0x03,   
    SixAxisSensorGyroFullScaleRange_125DPS    = 0x04,   
    SixAxisSensorGyroFullScaleRange_62_5DPS   = 0x05,   
    SixAxisSensorGyroFullScaleRange_31_25DPS  = 0x06,   
    SixAxisSensorGyroFullScaleRange_15_125DPS = 0x07    
};
 
enum SixAxisSensorAccelOutputDataRange {
    SixAxisSensorAccelOutputDataRange_8000Hz   = 0x03,  
    SixAxisSensorAccelOutputDataRange_4000Hz   = 0x04,  
    SixAxisSensorAccelOutputDataRange_2000Hz   = 0x05,  
    SixAxisSensorAccelOutputDataRange_1000Hz   = 0x06,  
    SixAxisSensorAccelOutputDataRange_500Hz    = 0x0F,  
    SixAxisSensorAccelOutputDataRange_200Hz    = 0x07,  
    SixAxisSensorAccelOutputDataRange_100Hz    = 0x08,  
    SixAxisSensorAccelOutputDataRange_50Hz     = 0x09,  
    SixAxisSensorAccelOutputDataRange_25Hz     = 0x0A,  
    SixAxisSensorAccelOutputDataRange_12_5Hz   = 0x0B,  
    SixAxisSensorAccelOutputDataRange_6_25Hz   = 0x0C,  
    SixAxisSensorAccelOutputDataRange_3_125Hz  = 0x0D,  
    SixAxisSensorAccelOutputDataRange_1_5625Hz = 0x0E   
};
 
enum SixAxisSensorGyroOutputDataRange {
    SixAxisSensorGyroOutputDataRange_8000Hz   = 0x03,   
    SixAxisSensorGyroOutputDataRange_4000Hz   = 0x04,   
    SixAxisSensorGyroOutputDataRange_2000Hz   = 0x05,   
    SixAxisSensorGyroOutputDataRange_1000Hz   = 0x06,   
    SixAxisSensorGyroOutputDataRange_500Hz    = 0x0F,   
    SixAxisSensorGyroOutputDataRange_200Hz    = 0x07,   
    SixAxisSensorGyroOutputDataRange_100Hz    = 0x08,   
    SixAxisSensorGyroOutputDataRange_50Hz     = 0x09,   
    SixAxisSensorGyroOutputDataRange_25Hz     = 0x0A,   
    SixAxisSensorGyroOutputDataRange_12_5Hz   = 0x0B,   
};
 
C_LINKAGE bool yggdrasil_SixAxisSensor_Init(enum SixAxisSensorAccelFullScaleRange accelScale, enum SixAxisSensorGyroFullScaleRange gyroScale, enum SixAxisSensorAccelOutputDataRange accelOdr, enum SixAxisSensorGyroOutputDataRange gyroOdr);
 
C_LINKAGE struct Coordinate yggdrasil_SixAxisSensor_GetRotation(void);
 
C_LINKAGE struct Coordinate yggdrasil_SixAxisSensor_GetAcceleration(void);
 
C_LINKAGE float yggdrasil_SixAxisSensor_GetTemperature(void);
 
C_LINKAGE struct Orientation yggdrasil_SixAxisSensor_GetBoardOrientation(void);