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- #ifndef IMU_H
- #define IMU_H
- #include <stdbool.h>
- #include <furi_hal.h>
- #ifdef __cplusplus
- extern "C" {
- #endif
- struct imu_t {
- unsigned int address;
- bool (*begin)(void);
- void (*end)(void);
- int (*read)(double* vec);
- char* name;
- };
- #define ACC_DATA_READY (1 << 0)
- #define GYR_DATA_READY (1 << 1)
- static const double DEG_TO_RAD = 0.017453292519943295769236907684886;
- static const double GRAVITY = 9.81;
- bool imu_begin();
- void imu_end();
- int imu_read(double* vec);
- #ifdef __cplusplus
- }
- #endif
- #endif // IMU_H
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