TZ01_motion_tracker.h

[詳解]

/*
Copyright 2015 Cerevo Inc.

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

    http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/

#ifndef _TZ01_MOTION_TRACKER_H_
#define _TZ01_MOTION_TRACKER_H_

#include <stdint.h>
#include <stdbool.h>

#define PI (3.1415926535)

bool TZ01_motion_tracker_init(void);

bool TZ01_motion_tracker_gyro_read(uint16_t *rx, uint16_t *ry, uint16_t *rz, float *x, float *y, float *z);

bool TZ01_motion_tracker_accel_read(uint16_t *rx, uint16_t *ry, uint16_t *rz, float *x, float *y, float *z);

bool TZ01_motion_tracker_temperature_read(uint16_t *rt, float *t);

bool TZ01_motion_tracker_magnetometer_read(uint16_t *rx, uint16_t *ry, uint16_t *rz, float *x, float *y, float *z);

bool TZ01_motion_tracker_acc_axis_angle(float *pitch_rad, float *roll_rad);

void TZ01_motion_tracker_compute_axis_angle(float acc_x, float acc_y, float acc_z, float *pitch_rad, float *roll_rad);

#endif