| b.liu | e958203 | 2025-04-17 19:18:16 +0800 | [diff] [blame^] | 1 | #ifndef ST_SENSOR_H |
| 2 | #define ST_SENSOR_H |
| 3 | |
| 4 | |
| 5 | #ifndef GRAVITY_EARTH |
| 6 | #define GRAVITY_EARTH 9.8066f |
| 7 | #endif |
| 8 | |
| 9 | #ifndef PI |
| 10 | #define PI (float)3.14159265358979323846 |
| 11 | #endif |
| 12 | |
| 13 | #define SCALE_A (0.244f ) |
| 14 | #define SCALE_G (0.07f) |
| 15 | #define SCALE_M (0.479f) |
| 16 | #define SCALE_B (4096) |
| 17 | #define SCALE_T (480) |
| 18 | #define SCALE_TIME_US2NS 1000LL |
| 19 | #define SCALE_TIME_MS2US 1000LL |
| 20 | |
| 21 | // conversion of acceleration data to SI units (m/s^2) |
| 22 | #define CONVERT_A (SCALE_A * GRAVITY_EARTH / 1000) |
| 23 | #define CONVERT_A_X (-CONVERT_A) |
| 24 | #define CONVERT_A_Y (-CONVERT_A) |
| 25 | #define CONVERT_A_Z (CONVERT_A) |
| 26 | |
| 27 | // conversion of magnetic data to uT units |
| 28 | #define CONVERT_M (SCALE_M * 1.0f/10.0f) |
| 29 | #define CONVERT_M_X (-CONVERT_M) |
| 30 | #define CONVERT_M_Y (-CONVERT_M) |
| 31 | #define CONVERT_M_Z (CONVERT_M) |
| 32 | |
| 33 | // conversion of gyro data to SI units (radian/sec) |
| 34 | #define CONVERT_G (SCALE_G * ((float)PI / 180.0f)) |
| 35 | #define CONVERT_G_X (CONVERT_G) |
| 36 | #define CONVERT_G_Y (CONVERT_G) |
| 37 | #define CONVERT_G_Z (CONVERT_G) |
| 38 | |
| 39 | // conversion of baro data to hectopascal (hPa) |
| 40 | #define CONVERT_B (SCALE_B) |
| 41 | |
| 42 | // conversion of temperature data to degree Celsius |
| 43 | #define CONVERT_T (SCALE_T) |
| 44 | |
| 45 | #endif |
| 46 | |
| 47 | |
| 48 | |
| 49 | |
| 50 | |
| 51 | |
| 52 | |
| 53 | |
| 54 | |
| 55 | |
| 56 | |
| 57 | |
| 58 | |
| 59 | |
| 60 | |
| 61 | |
| 62 | |
| 63 | |
| 64 | |
| 65 | |
| 66 | |
| 67 | |
| 68 | |
| 69 | |
| 70 | |
| 71 | |
| 72 | |
| 73 | |
| 74 | |
| 75 | |
| 76 | |
| 77 | |
| 78 | |