imu_types.hpp

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/*
 * SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
 *
 * SPDX-License-Identifier: MIT
 */
#ifndef M5_UNIT_IMU_IMU_IMU_TYPES_HPP
#define M5_UNIT_IMU_IMU_IMU_TYPES_HPP
 
#include <cstdint>
 
namespace m5 {
namespace imu {
 
enum class Capability : uint8_t {
    None  = 0,       
    Accel = 1 << 0,  
    Gyro  = 1 << 1,  
    Mag   = 1 << 2,  
    Baro  = 1 << 3,  
    Temp  = 1 << 4,  
};
 
constexpr Capability operator|(const Capability a, const Capability b)
{
    return static_cast<Capability>(static_cast<uint8_t>(a) | static_cast<uint8_t>(b));
}
constexpr Capability operator&(const Capability a, const Capability b)
{
    return static_cast<Capability>(static_cast<uint8_t>(a) & static_cast<uint8_t>(b));
}
inline Capability& operator|=(Capability& a, const Capability b)
{
    a = a | b;
    return a;
}
constexpr bool any(const Capability c)
{
    return c != Capability::None;
}
 
struct imu_raw_data_t {
    int16_t accel[3]{};  
    int16_t gyro[3]{};   
    int32_t mag[3]{};    
    int32_t baro{};      
    int16_t temp{};      
};
 
struct imu_convert_param_t {
    float accel_res{8.0f / 32768};    
    float gyro_res{2000.0f / 32768};  
    float mag_res{4912.0f / 32760};   
    float temp_res{1.0f};             
    float temp_offset{0.0f};          
};
 
struct imu_physical_data_t {
    float accel[3]{};  
    float gyro[3]{};   
    float mag[3]{};    
    float temp{};      
};
 
}  // namespace imu
}  // namespace m5
#endif