47 lines
1.6 KiB
C
47 lines
1.6 KiB
C
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#ifndef _PDR_AHRS_H_
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#define _PDR_AHRS_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Header File Including ------------------------------------------------------------------------ */
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#include "pdr_sensor.h"
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/* Macro Declaration ---------------------------------------------------------------------------- */
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#define AHRS_SAMPLE_FREQ 100 // ARHS<48>㷨<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>
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#define IMU_SAMPLING_FREQUENCY 100
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#define AHRS_KP 0.500
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#define AHRS_TYPE_GYRO 4
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#define AHRS_TYPE_ACCE 1
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#define AHRS_TYPE_MAGN 2
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#define AHRS_STATUS_RESET_PHASE_0 0x80
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#define AHRS_STATUS_RESET_PHASE_1 0x40
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#define AHRS_STATUS_RESET (AHRS_STATUS_RESET_PHASE_0|AHRS_STATUS_RESET_PHASE_1)
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#define AHRS_STATUS_STABLE 0x20
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/* Struct Declaration --------------------------------------------------------------------------- */
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/* Function Declaration ------------------------------------------------------------------------- */
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void pdr_initAhrs(void);
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void pdr_ahrsReset(void);
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/**---------------------------------------------------------------------
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* Function : fv3Norm
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* Description : <EFBFBD><EFBFBD>ά<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD>
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* Date : 2021/01/26 yuanlin@vivocom && zhanli@vivo.com
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*---------------------------------------------------------------------**/
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void fv3Norm(float* vx, float* vy, float* vz);
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int pdr_imuUpdateAhrs(imu* imu);
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#ifdef __cplusplus
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}
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#endif
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#endif // for __AHRS_H
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