49 lines
1.5 KiB
C
49 lines
1.5 KiB
C
/*
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* Copyright (C) EdgeTX
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*
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* Based on code named
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* opentx - https://github.com/opentx/opentx
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#pragma once
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#include <inttypes.h>
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#include "hal/imu.h"
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#define IMU_MAX_DEFAULT 30
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#define IMU_MAX_RANGE 60
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#define IMU_OFFSET_MIN -30
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#define IMU_OFFSET_MAX 10
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#define IMU_AXIS_X 0
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#define IMU_AXIS_Y 1
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// User-selectable IMU axis inversion, stored verbatim and defaulting to off.
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// The fixed hardware mounting correction (IMU_INVERT_X/Y in the target hal.h) is
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// applied on top of this internally, so the user setting is independent of it.
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bool getImuInversion(uint8_t axis);
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void setImuInversion(uint8_t axis, bool value);
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void gyroStart(imu_read_fn fn);
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void gyroWakeup();
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void gyroSetIMU_X(int16_t offset, int16_t range);
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void gyroSetIMU_Y(int16_t offset, int16_t range);
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int16_t gyroScaledX();
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int16_t gyroScaledY();
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extern int16_t gyroOutputs[2];
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