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/*********************************************************************************************************************
* TC264 Opensourec Library <20><><EFBFBD><EFBFBD>TC264 <20><>Դ<EFBFBD>⣩<EFBFBD><E2A3A9>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD>ڹٷ<DAB9> SDK <20>ӿڵĵ<DAB5><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>
* Copyright (c) 2022 SEEKFREE <20><><EFBFBD>ɿƼ<C9BF>
*
* <20><><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD> TC264 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
*
* TC264 <20><>Դ<EFBFBD><D4B4> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <20><><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><D4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><E1B7A2><EFBFBD><EFBFBD> GPL<50><4C>GNU General Public License<73><65><EFBFBD><EFBFBD> GNUͨ<55>ù<EFBFBD><C3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <20><> GPL <20>ĵ<EFBFBD>3<EFBFBD>棨<EFBFBD><E6A3A8> GPL3.0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD>κκ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>İ汾<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD>
*
* <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD><CFA3><EFBFBD><EFBFBD><EFBFBD>ܷ<EFBFBD><DCB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>κεı<CEB5>֤
* <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ի<EFBFBD><D4BB>ʺ<EFBFBD><CABA>ض<EFBFBD><D8B6><EFBFBD>;<EFBFBD>ı<EFBFBD>֤
* <20><><EFBFBD><EFBFBD>ϸ<EFBFBD><CFB8><EFBFBD><EFBFBD><EFBFBD>μ<EFBFBD> GPL
*
* <20><>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>ͬʱ<CDAC>յ<EFBFBD>һ<EFBFBD><D2BB> GPL <20>ĸ<EFBFBD><C4B8><EFBFBD>
* <20><><EFBFBD><EFBFBD>û<EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><https://www.gnu.org/licenses/>
*
* <20><><EFBFBD><EFBFBD>ע<EFBFBD><D7A2><EFBFBD><EFBFBD>
* <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>ʹ<EFBFBD><CAB9> GPL3.0 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>֤Э<D6A4><D0AD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>İ汾
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӣ<EFBFBD>İ<EFBFBD><C4B0><EFBFBD> libraries/doc <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> GPL3_permission_statement.txt <20>ļ<EFBFBD><C4BC><EFBFBD>
* <20><><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD> libraries <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> LICENSE <20>ļ<EFBFBD>
* <20><>ӭ<EFBFBD><D3AD>λʹ<CEBB>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>뱣<EFBFBD><EBB1A3><EFBFBD><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC>İ<EFBFBD>Ȩ<EFBFBD><C8A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> zf_device_imu660ra
* <20><>˾<EFBFBD><CBBE><EFBFBD><EFBFBD> <20>ɶ<EFBFBD><C9B6><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC><EFBFBD><EFBFBD>޹<EFBFBD>˾
* <20>汾<EFBFBD><E6B1BE>Ϣ <20>鿴 libraries/doc <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> version <20>ļ<EFBFBD> <20>汾˵<E6B1BE><CBB5>
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ADS v1.10.2
* <20><><EFBFBD><EFBFBD>ƽ̨ TC264D
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> https://seekfree.taobao.com/
*
* <20>޸ļ<DEB8>¼
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>ע
* 2022-09-15 pudding first version
* 2023-04-28 pudding <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ע<EFBFBD><D7A2>˵<EFBFBD><CBB5>
* 2023-09-15 pudding ת<><D7AA>ʵ<EFBFBD><CAB5>ֵ<EFBFBD><D6B5>ϸ˵<CFB8><CBB5>
* 2024-01-30 pudding <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
********************************************************************************************************************/
/*********************************************************************************************************************
* <20><><EFBFBD>߶<EFBFBD><DFB6>壺
* ------------------------------------
* ģ<><C4A3><EFBFBD>ܽ<EFBFBD> <20><>Ƭ<EFBFBD><C6AC><EFBFBD>ܽ<EFBFBD>
* // Ӳ<><D3B2> SPI <20><><EFBFBD><EFBFBD>
* SCL/SPC <20>鿴 zf_device_imu660ra.h <20><> IMU660RA_SPC_PIN <20>궨<EFBFBD><EAB6A8>
* SDA/DSI <20>鿴 zf_device_imu660ra.h <20><> IMU660RA_SDI_PIN <20>궨<EFBFBD><EAB6A8>
* SA0/SDO <20>鿴 zf_device_imu660ra.h <20><> IMU660RA_SDO_PIN <20>궨<EFBFBD><EAB6A8>
* CS <20>鿴 zf_device_imu660ra.h <20><> IMU660RA_CS_PIN <20>궨<EFBFBD><EAB6A8>
* VCC 3.3V<EFBFBD><EFBFBD>Դ
* GND <20><>Դ<EFBFBD><D4B4>
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* // <20><><EFBFBD><EFBFBD> IIC <20><><EFBFBD><EFBFBD>
* SCL/SPC <20>鿴 zf_device_imu660ra.h <20><> IMU660RA_SCL_PIN <20>궨<EFBFBD><EAB6A8>
* SDA/DSI <20>鿴 zf_device_imu660ra.h <20><> IMU660RA_SDA_PIN <20>궨<EFBFBD><EAB6A8>
* VCC 3.3V<EFBFBD><EFBFBD>Դ
* GND <20><>Դ<EFBFBD><D4B4>
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* ------------------------------------
********************************************************************************************************************/
#ifndef _zf_device_imu660ra_h_
#define _zf_device_imu660ra_h_
#include "zf_common_typedef.h"
//================================================<3D><><EFBFBD><EFBFBD> IMU660RA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>================================================
// IMU660RA_USE_SOFT_IIC<49><43><EFBFBD><EFBFBD>Ϊ0<CEAA><30>ʾʹ<CABE><CAB9>Ӳ<EFBFBD><D3B2>SPI<50><49><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>Ϊ1<CEAA><31>ʾʹ<CABE><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IIC<49><43><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IMU660RA_USE_SOFT_IIC<49><43><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>ȱ<EFBFBD><C8B1>벢<EFBFBD><EBB2A2><EFBFBD>س<EFBFBD><D8B3>򣬵<EFBFBD>Ƭ<EFBFBD><C6AC><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD>Ҫ<EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨѶ
#define IMU660RA_USE_SOFT_IIC (0) // Ĭ<><C4AC>ʹ<EFBFBD><CAB9>Ӳ<EFBFBD><D3B2> SPI <20><>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD>
#if IMU660RA_USE_SOFT_IIC // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ɫ<EFBFBD><C9AB><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD><C4B2><EFBFBD><EFBFBD><EFBFBD>ȷ<EFBFBD><C8B7> <20><>ɫ<EFBFBD>ҵľ<D2B5><C4BE><EFBFBD>û<EFBFBD><C3BB><EFBFBD>õ<EFBFBD>
//====================================================<3D><><EFBFBD><EFBFBD> IIC <20><><EFBFBD><EFBFBD>====================================================
#define IMU660RA_SOFT_IIC_DELAY (59) // <20><><EFBFBD><EFBFBD> IIC <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD> <20><>ֵԽС IIC ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Խ<EFBFBD><D4BD>
#define IMU660RA_SCL_PIN (P20_11) // <20><><EFBFBD><EFBFBD> IIC SCL <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> IMU660RA <20><> SCL <20><><EFBFBD><EFBFBD>
#define IMU660RA_SDA_PIN (P20_14) // <20><><EFBFBD><EFBFBD> IIC SDA <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> IMU660RA <20><> SDA <20><><EFBFBD><EFBFBD>
//====================================================<3D><><EFBFBD><EFBFBD> IIC <20><><EFBFBD><EFBFBD>====================================================
#else
//====================================================Ӳ<><D3B2> SPI <20><><EFBFBD><EFBFBD>====================================================
#define IMU660RA_SPI_SPEED (10 * 1000 * 1000) // Ӳ<><D3B2> SPI <20><><EFBFBD><EFBFBD>
#define IMU660RA_SPI (SPI_0) // Ӳ<><D3B2> SPI <20><>
#define IMU660RA_SPC_PIN (SPI0_SCLK_P20_11) // Ӳ<><D3B2> SPI SCK <20><><EFBFBD><EFBFBD>
#define IMU660RA_SDI_PIN (SPI0_MOSI_P20_14) // Ӳ<><D3B2> SPI MOSI <20><><EFBFBD><EFBFBD>
#define IMU660RA_SDO_PIN (SPI0_MISO_P20_12) // Ӳ<><D3B2> SPI MISO <20><><EFBFBD><EFBFBD>
//====================================================Ӳ<><D3B2> SPI <20><><EFBFBD><EFBFBD>====================================================
#endif
#define IMU660RA_CS_PIN (P20_13) // CS Ƭѡ<C6AC><D1A1><EFBFBD><EFBFBD>
#define IMU660RA_CS(x) ((x) ? (gpio_high(IMU660RA_CS_PIN)) : (gpio_low(IMU660RA_CS_PIN)))
typedef enum
{
IMU660RA_ACC_SAMPLE_SGN_2G , // <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD> <20><>2G (ACC = Accelerometer <20><><EFBFBD>ٶȼ<D9B6>) (SGN = signum <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ) (G = g <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> g<><67>9.80 m/s^2)
IMU660RA_ACC_SAMPLE_SGN_4G , // <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD> <20><>4G (ACC = Accelerometer <20><><EFBFBD>ٶȼ<D9B6>) (SGN = signum <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ) (G = g <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> g<><67>9.80 m/s^2)
IMU660RA_ACC_SAMPLE_SGN_8G , // <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD> <20><>8G (ACC = Accelerometer <20><><EFBFBD>ٶȼ<D9B6>) (SGN = signum <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ) (G = g <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> g<><67>9.80 m/s^2)
IMU660RA_ACC_SAMPLE_SGN_16G, // <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD> <20><>16G (ACC = Accelerometer <20><><EFBFBD>ٶȼ<D9B6>) (SGN = signum <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ) (G = g <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> g<><67>9.80 m/s^2)
}imu660ra_acc_sample_config;
typedef enum
{
IMU660RA_GYRO_SAMPLE_SGN_125DPS , // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>125DPS (GYRO = Gyroscope <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) (SGN = signum <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ) (DPS = Degree Per Second <20><><EFBFBD>ٶȵ<D9B6>λ <20><>/S)
IMU660RA_GYRO_SAMPLE_SGN_250DPS , // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>250DPS (GYRO = Gyroscope <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) (SGN = signum <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ) (DPS = Degree Per Second <20><><EFBFBD>ٶȵ<D9B6>λ <20><>/S)
IMU660RA_GYRO_SAMPLE_SGN_500DPS , // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>500DPS (GYRO = Gyroscope <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) (SGN = signum <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ) (DPS = Degree Per Second <20><><EFBFBD>ٶȵ<D9B6>λ <20><>/S)
IMU660RA_GYRO_SAMPLE_SGN_1000DPS, // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>1000DPS (GYRO = Gyroscope <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) (SGN = signum <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ) (DPS = Degree Per Second <20><><EFBFBD>ٶȵ<D9B6>λ <20><>/S)
IMU660RA_GYRO_SAMPLE_SGN_2000DPS, // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>2000DPS (GYRO = Gyroscope <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) (SGN = signum <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ) (DPS = Degree Per Second <20><><EFBFBD>ٶȵ<D9B6>λ <20><>/S)
}imu660ra_gyro_sample_config;
#define IMU660RA_ACC_SAMPLE_DEFAULT ( IMU660RA_ACC_SAMPLE_SGN_8G ) // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD>ϵ<EFBFBD> <20><><EFBFBD>ٶȼ<D9B6> <20><>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define IMU660RA_GYRO_SAMPLE_DEFAULT ( IMU660RA_GYRO_SAMPLE_SGN_2000DPS ) // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD>ϵ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define IMU660RA_TIMEOUT_COUNT (0x00FF) // IMU660 <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>
//================================================<3D><><EFBFBD><EFBFBD> IMU660RA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>================================================
//================================================<3D><><EFBFBD><EFBFBD> IMU660RA <20>ڲ<EFBFBD><DAB2><EFBFBD>ַ================================================
#define IMU660RA_DEV_ADDR (0x69) // SA0<41>ӵأ<D3B5>0x68 SA0<41><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0x69 ģ<><C4A3>Ĭ<EFBFBD><C4AC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define IMU660RA_SPI_W (0x00)
#define IMU660RA_SPI_R (0x80)
#define IMU660RA_CHIP_ID (0x00)
#define IMU660RA_PWR_CONF (0x7C)
#define IMU660RA_PWR_CTRL (0x7D)
#define IMU660RA_INIT_CTRL (0x59)
#define IMU660RA_INIT_DATA (0x5E)
#define IMU660RA_INT_STA (0x21)
#define IMU660RA_ACC_ADDRESS (0x0C)
#define IMU660RA_GYRO_ADDRESS (0x12)
#define IMU660RA_ACC_CONF (0x40)
#define IMU660RA_ACC_RANGE (0x41)
#define IMU660RA_GYR_CONF (0x42)
#define IMU660RA_GYR_RANGE (0x43)
#define IMU660RA_ACC_SAMPLE (0x02) // <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>Ϊ25<32><35><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IMU660RA<52>ļ<EFBFBD><C4BC>ٶ<EFBFBD><D9B6><EFBFBD>Ưϵ<C6AF><CFB5>Ϊ 0.004%/K <20><>ֵ<EFBFBD><D6B5>ƫ<EFBFBD><C6AB><EFBFBD><EFBFBD><C2B6><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>Ϊ <20><>0.25mg/K
// <20><><EFBFBD><EFBFBD>Ϊ:0x00 <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>2g <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><C4BC>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> 16384 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λ<EFBFBD><CEBB>g(m/s^2)
// <20><><EFBFBD><EFBFBD>Ϊ:0x01 <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>4g <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><C4BC>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> 8192 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λ<EFBFBD><CEBB>g(m/s^2)
// <20><><EFBFBD><EFBFBD>Ϊ:0x02 <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>8g <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><C4BC>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> 4096 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λ<EFBFBD><CEBB>g(m/s^2)
// <20><><EFBFBD><EFBFBD>Ϊ:0x03 <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>16g <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><C4BC>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> 2048 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λ<EFBFBD><CEBB>g(m/s^2)
#define IMU660RA_GYR_SAMPLE (0x00) // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>Ϊ25<32><35><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IMU660RA<52><41><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ưϵ<C6AF><CFB5>Ϊ 0.02%/K <20><>ֵ<EFBFBD><D6B5>ƫ<EFBFBD><C6AB><EFBFBD><EFBFBD><C2B6><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>Ϊ <20><>0.015dps/K
// <20><><EFBFBD><EFBFBD>Ϊ:0x00 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>2000dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>16.384 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<CEBB><CEAA><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x01 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>1000dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>32.768 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<CEBB><CEAA><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x02 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>500 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>65.536 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<CEBB><CEAA><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x03 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>250 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>131.072 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<CEBB><CEAA><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x04 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>250 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>262.144 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<CEBB><CEAA><EFBFBD><EFBFBD>/s
//================================================<3D><><EFBFBD><EFBFBD> IMU660RA <20>ڲ<EFBFBD><DAB2><EFBFBD>ַ================================================
//================================================<3D><><EFBFBD><EFBFBD> IMU660RA ȫ<>ֱ<EFBFBD><D6B1><EFBFBD>================================================
extern int16 imu660ra_gyro_x, imu660ra_gyro_y, imu660ra_gyro_z; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> GYRO (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
extern int16 imu660ra_acc_x, imu660ra_acc_y, imu660ra_acc_z; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD> ACC (accelerometer <20><><EFBFBD>ٶȼ<D9B6>)
extern float imu660ra_transition_factor[2]; // ת<><D7AA>ʵ<EFBFBD><CAB5>ֵ<EFBFBD>ı<EFBFBD><C4B1><EFBFBD>
//================================================<3D><><EFBFBD><EFBFBD> IMU660RA ȫ<>ֱ<EFBFBD><D6B1><EFBFBD>================================================
//================================================<3D><><EFBFBD><EFBFBD> IMU660RA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>================================================
void imu660ra_get_acc (void); // <20><>ȡ IMU660RA <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>
void imu660ra_get_gyro (void); // <20><>ȡ IMU660RA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
uint8 imu660ra_init (void); // <20><>ʼ<EFBFBD><CABC> IMU660RA
//================================================<3D><><EFBFBD><EFBFBD> IMU660RA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>================================================
//================================================<3D><><EFBFBD><EFBFBD> IMU660RA <20><>չ<EFBFBD><D5B9><EFBFBD><EFBFBD>================================================
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> IMU660RA <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊʵ<CEAA><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> acc_value <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> float data = imu660ra_acc_transition(imu660ra_acc_x); // <20><>λΪ g(m/s^2)
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
#define imu660ra_acc_transition(acc_value) ((float)(acc_value) / imu660ra_transition_factor[0])
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> IMU660RA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊʵ<CEAA><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> gyro_value <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> float data = imu660ra_gyro_transition(imu660ra_gyro_x); // <20><>λΪ <20><>/s
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
#define imu660ra_gyro_transition(gyro_value) ((float)(gyro_value) / imu660ra_transition_factor[1])
//================================================<3D><><EFBFBD><EFBFBD> IMU660RA <20><>չ<EFBFBD><D5B9><EFBFBD><EFBFBD>================================================
#endif