57 lines
1.1 KiB
C++
57 lines
1.1 KiB
C++
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#include "HAL\HAL.h"
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#include <stdlib.h>
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#include "Common/DataProc/DataProc.h"
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#include <stdio.h>
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static CommitFunc_t CommitFunc;
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static void* UserData;
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void IMU_SetCommitCallback(CommitFunc_t func, void* userData)
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{
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CommitFunc = func;
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UserData = userData;
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}
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uint8_t IMU_Init()
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{
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return 0;
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}
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void IMU_Update()
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{
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static uint16_t steps = 0;
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steps++;
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if (steps > 9999)
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{
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steps = 0;
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}
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IMU_Info_t imu;
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imu.acc[0] = (rand() % 1000 - 500) / 500.0f;
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imu.acc[1] = (rand() % 1000 - 500) / 500.0f;
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imu.acc[2] = (rand() % 1000 - 500) / 500.0f;
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imu.gyr[0] = (rand() % 1000 - 500) / 500.0f;
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imu.gyr[1] = (rand() % 1000 - 500) / 500.0f;
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imu.gyr[2] = (rand() % 1000 - 500) / 500.0f;
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imu.ax = (int16_t)(imu.acc[0] * 2000);
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imu.ay = (int16_t)(imu.acc[1] * 2000);
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imu.az = (int16_t)(imu.acc[2] * 2000);
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imu.gx = rand() % 1000 - 500;
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imu.gy = rand() % 1000 - 500;
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imu.gz = rand() % 1000 - 500;
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imu.steps = steps;
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if (CommitFunc)
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{
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CommitFunc(&imu, UserData);
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}
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}
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