utilities.h

Go to the documentation of this file.

 
#ifndef UTILITIES_H_
#define UTILITIES_H_
 
#ifndef _BMP3_H
#include "bmp3.h"
#endif
 
#ifndef LSM6DSO32_REGS_H
#include "lsm6dso32_reg.h"
#endif
 
//#ifndef W25Q128_H
//#include "W25Q128.h"
//#endif
 
//#define DEBUG_EN
 
#ifdef DEBUG_EN
 
#include "stm32h7xx.h"
 
HAL_StatusTypeDef COM_port_serial_print(const uint8_t* data);
#endif
 
#ifndef __MAIN_H
#include "main.h"
#endif
 
#include <stdbool.h>
#include <math.h>
#include "cmsis_os2.h"
 
 
 
#define AIR_DENSITY_KG_M3   1.293f
#define SPECIFIC_GAS_CONSTANT 287.0f // Joules/Kg*Kelvin
 
typedef enum {
    HWOFFSET = 0,       
    SWOFFSET = 1,       
    RESET_HWOFFSET = 2  
} OFFSET_TYPE;
 
 
int32_t imuP_write(void *handle, uint8_t reg_addr, const uint8_t *buf, uint16_t len);
 
int32_t imuP_read(void *handle, uint8_t reg_addr, uint8_t *buf, uint16_t len);
 
int8_t bmp390_P_write(uint8_t reg_addr, const uint8_t *buf, uint32_t len, void *intf_ptr);
 
int8_t bmp390_P_read(uint8_t reg_addr, uint8_t *buf, uint32_t len, void *intf_ptr);
 
int32_t imuB_write(void *handle, uint8_t reg_addr, const uint8_t *buf, uint16_t len);
 
int32_t imuB_read(void *handle, uint8_t reg_addr, uint8_t *buf, uint16_t len);
 
int8_t bmp390_B_write(uint8_t reg_addr, const uint8_t *buf, uint32_t len, void *intf_ptr);
 
int8_t bmp390_B_read(uint8_t reg_addr, uint8_t *buf, uint32_t len, void *intf_ptr);
 
int8_t init_imup(stmdev_ctx_t *imu, lsm6dso32_fs_xl_t acc_full_scale, lsm6dso32_fs_g_t gyro_full_scale, lsm6dso32_odr_xl_t acc_output_data_rate, lsm6dso32_odr_g_t gyro_output_data_rate);
 
int8_t init_bmp390_p(struct bmp3_dev *bmp390);
 
int8_t init_imuB(stmdev_ctx_t *imu, lsm6dso32_fs_xl_t acc_full_scale, lsm6dso32_fs_g_t gyro_full_scale, lsm6dso32_odr_xl_t acc_output_data_rate, lsm6dso32_odr_g_t gyro_output_data_rate);
 
int8_t init_bmp390_B(struct bmp3_dev *bmp390);
 
//int8_t init_flash(W25Q128_t *flash, chip_erasing erase);
 
//int8_t calibrateBMP390(struct bmp3_dev *bmp390, uint16_t iterationNum);
 
int8_t calibrateIMU(stmdev_ctx_t *imu, uint16_t iterationNum, OFFSET_TYPE type);
 
int32_t imuP_read_2(void *handle, uint8_t reg_addr, uint8_t *buf, uint16_t len);
 
float_t readAltitude(float_t seaLevelPa,float_t seaLevelT,float_t currentPa);
 
 
 
#endif /* UTILITIES_H_ */