32 lines
671 B
C
32 lines
671 B
C
|
#ifndef IMU_H
|
||
|
|
#define IMU_H
|
||
|
|
|
||
|
|
#include <Arduino.h>
|
||
|
|
|
||
|
|
// WT61 IMU data structure
|
||
|
|
struct ImuData {
|
||
|
|
// Acceleration (g)
|
||
|
|
float ax, ay, az;
|
||
|
|
// Angular velocity (deg/s)
|
||
|
|
float gx, gy, gz;
|
||
|
|
// Euler angles (degrees)
|
||
|
|
float roll, pitch, yaw;
|
||
|
|
// Timestamp of last valid packet (millis)
|
||
|
|
unsigned long lastUpdate;
|
||
|
|
};
|
||
|
|
|
||
|
|
// Initialize IMU serial (call in setup)
|
||
|
|
void imu_init();
|
||
|
|
|
||
|
|
// Process incoming bytes - call frequently in loop
|
||
|
|
// Returns true if new complete packet was parsed
|
||
|
|
bool imu_update();
|
||
|
|
|
||
|
|
// Get latest IMU data
|
||
|
|
const ImuData& imu_get_data();
|
||
|
|
|
||
|
|
// Check if IMU data is fresh (updated within timeout_ms)
|
||
|
|
bool imu_is_fresh(unsigned long timeout_ms = 200);
|
||
|
|
|
||
|
|
#endif
|