/*
 * user_iam20680.h
 *
 *  Created on: Dec 7, 2022
 *      Author: FizeC
 */

#ifndef USER_IAM20680_H_
#define USER_IAM20680_H_
#include <string.h>
#include <stdio.h>
#include "rtklib.h"
//#include "iam20680.h"
#include "IMU_IAM20680.h"
#include "stm32f1xx_hal.h"

void user_dev_init1();
void tdk_sample();
uint8_t iam_write(uint8_t reg_addr, uint8_t *reg_data, uint16_t len);
uint8_t iam_read(uint8_t reg_addr, uint8_t *reg_data, uint16_t len);


typedef struct{
    int16_t x_a;   //加速度值原始数据
	  int16_t y_a;
	  int16_t z_a;
    int16_t x_g;   //角速度值原始数据
	  int16_t y_g;
	  int16_t z_g;
	  float x_acc;   //转换为真实加速度
		float y_acc;
		float z_acc;
		float x_gyro;  //转换为真实角速度
	  float y_gyro;
		float z_gyro;
}tdk_value;
extern tdk_value iam20680;

extern IAM20680_t spi2_dev;

#endif /* USER_IAM20680_H_ */