imu.h

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/*
 * Copyright (c) 2026 Nordic Semiconductor ASA
 *
 * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
 */
 
#ifndef __SENSOR_IMU_H__
#define __SENSOR_IMU_H__
 
#include "../../common.h"
 
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
 
#define IMU_ACCEL_SCALE_2G      (2)
#define IMU_ACCEL_SCALE_4G      (4)
#define IMU_ACCEL_SCALE_8G      (8)
#define IMU_ACCEL_SCALE_16G     (16)
 
#define IMU_GYRO_SCALE_125DPS  (125)
#define IMU_GYRO_SCALE_250DPS  (250)
#define IMU_GYRO_SCALE_500DPS  (500)
#define IMU_GYRO_SCALE_1000DPS (1000)
#define IMU_GYRO_SCALE_2000DPS (2000)
 
#define IMU_NUM_AXES (3U)
 
#define ACCEL_AXIS_NUM (IMU_NUM_AXES)
 
#define GYRO_AXIS_NUM (IMU_NUM_AXES)
 
typedef struct imu_config_s {
        int32_t accel_fs_g;
 
        int32_t gyro_fs_dps;
 
        int32_t data_rate_hz;
} imu_config_t;
 
typedef struct imu_data_s {
        struct {
                int16_t raw;
                float phys;
        } accel[ACCEL_AXIS_NUM];
        struct {
                int16_t raw;
                float phys;
        } gyro[GYRO_AXIS_NUM];
} imu_data_t;
 
status_t imu_init(const imu_config_t *p_config, generic_cb_t data_ready_cb);
 
status_t imu_read(imu_data_t *const p_data);
 
#ifdef __cplusplus
}
#endif /* __cplusplus */
 
#endif /* __SENSOR_IMU_H__ */