From 6de28a80005f543969e8a1b4172529467e7841bf Mon Sep 17 00:00:00 2001
From: Kai-Bjoern Gemlau <gemlau@ida.ing.tu-bs.de>
Date: Tue, 12 Apr 2022 09:24:12 +0200
Subject: [PATCH] Updated imu template

---
 src/APP/Aufgabe4/ps7/core0/cfg/imu.h |  6 -----
 src/APP/Aufgabe4/ps7/core0/src/imu.c | 52 +++++++++++++++++++-----------------
 2 files changed, 28 insertions(+), 30 deletions(-)

diff --git a/src/APP/Aufgabe4/ps7/core0/cfg/imu.h b/src/APP/Aufgabe4/ps7/core0/cfg/imu.h
index 83927c7..4527fc0 100644
--- a/src/APP/Aufgabe4/ps7/core0/cfg/imu.h
+++ b/src/APP/Aufgabe4/ps7/core0/cfg/imu.h
@@ -25,12 +25,6 @@
 
 int mpu9250_Imu_Init(void *pdata);
 int mpu9250_CalculateAngle(void *pdata);
-uint8_t mpu9250_Iic_Init();
-void mpu9250_Init(void);
-uint8_t mpu9250_Write_Reg();
-int8_t mpu9250_Read_Data();
-uint8_t mpu9250_Read_Status();
-int mpu9250_Get_Data_Task(void *pdata);
 
 
 
diff --git a/src/APP/Aufgabe4/ps7/core0/src/imu.c b/src/APP/Aufgabe4/ps7/core0/src/imu.c
index da1a731..f61a1ef 100644
--- a/src/APP/Aufgabe4/ps7/core0/src/imu.c
+++ b/src/APP/Aufgabe4/ps7/core0/src/imu.c
@@ -18,36 +18,40 @@
 #include "ucos_ii.h"
 #include "ucos_bsp.h"
 
+/**
+ * Global variables
+ */
 
-int mpu9250_Get_Data_Task(void *pdata) {
+/* Max and min values of acc */
+static int16_t _imu_accMaxData[3]={0,0,0}; //x, y, z
+static int16_t _imu_accMinData[3]={0,0,0}; //x, y, z
+
+
+/**
+ * Function Prototypes
+ */
+static uint8_t mpu9250_Iic_Init();
+static void mpu9250_Init(void);
+static uint8_t mpu9250_Write_Reg(uint8_t iic_address, uint8_t data);
+static int8_t mpu9250_Read_Data(uint8_t iic_address, uint8_t length, u8 RecvBuffer[]);
+static uint8_t mpu9250_Map_Gyro_Data(int16_t result[]);
+static uint8_t mpu9250_Map_Acc_Data(int16_t result[]);
+static uint8_t mpu9250_Read_Status(int16_t result[]);
+static void mpu9250_Get_Acc_Min_Max();
+
+/**
+ * Read sensor data and calculate angle 
+ */
+int mpu9250_CalculateAngle(void *pdata){
 
 }
 
-uint8_t mpu9250_Iic_Init(){
-
-}
-
-int mpu9250_Init(void *pdata){
-
-}
-
-
-uint8_t mpu9250_Write_Reg(){
-
-}
-
-
-int8_t mpu9250_Read_Data(){
-
-}
-
-//optional
-uint8_t mpu9250_Read_Status() {
+/**
+ * Initialize I2C and MPU
+ */
+int mpu9250_Imu_Init(void *pdata){
 
 }
 
 
 
-
-
-