pios_px4flow_priv.h

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#ifndef PIOS_PX4FLOW_H
#define PIOS_PX4FLOW_H

#include <stdint.h>
#include <stdbool.h>

/* PX4FLOW Addresses */
#define PIOS_PX4FLOW_I2C_7_BIT_ADDR                              0x42
#define PIOS_PX4FLOW_FRAMECOUNTER_LSB                            0x00
#define PIOS_PX4FLOW_FRAMECOUNTER_SINCE_LAST_I2C_READING_LSB     0x16

struct Rotation {
        // Units are [deg*100]
        int16_t roll_D100;
        int16_t pitch_D100;
        int16_t yaw_D100;
};

struct pios_px4flow_cfg {
        struct Rotation rotation;
};

struct pios_px4flow_data {
        int16_t x_dot;
        int16_t y_dot;
        int16_t x;
        int16_t y;
};

/* Public Functions */
extern int32_t PIOS_PX4Flow_Init(const struct pios_px4flow_cfg *cfg, pios_i2c_t i2c_id);
extern int32_t PIOS_PX4Flow_Test(void);
extern int32_t PIOS_PX4Flow_SetRotation(const struct Rotation rotation);
extern bool PIOS_PX4Flow_IRQHandler();
#endif /* PIOS_PX4FLOW_H */