tm_stm32_ahrs_imu.h

#ifndef TM_AHRSIMU_H
#define TM_AHRSIMU_H 100

/* C++ detection */
#ifdef __cplusplus
extern "C" {
#endif

#include "stdint.h"
#include "math.h"
    
#define AHRSIMU_PI              3.141592653f            /* PI definition */
#define AHRSIMU_RAD2DEG(x)      ((x) * 57.2957795f)     /* Radians to degrees converter */
#define AHRSIMU_DEG2RAD(x)      ((x) * 0.0174532925f)   /* Radians to degrees converter */

typedef struct _TM_AHRSIMU_t {
    float Roll;             /* Roll angle value. This parameter is in units of degrees */
    float Pitch;            /* Pitch angle value. This parameter is in units of degrees */
    float Yaw;              /* Yaw angle value. This parameter is in units of degrees */
    float Inclination;      /* Inclination in units of degrees */
    
    float _beta;
    float _q0, _q1, _q2, _q3;
    float _sampleRate;
} TM_AHRSIMU_t;

void TM_AHRSIMU_Init(TM_AHRSIMU_t* AHRSIMU, float sampleRate, float beta, float inclination);

void TM_AHRSIMU_UpdateAHRS(TM_AHRSIMU_t* AHRSIMU, float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);

void TM_AHRSIMU_UpdateIMU(TM_AHRSIMU_t* AHRSIMU, float gx, float gy, float gz, float ax, float ay, float az);

/* C++ detection */
#ifdef __cplusplus
}
#endif

#endif