接前一篇文章:ICM20948 DMP代码详解(55)
上一回讲到了inv_icm20948_set_matrix函数,解析了传给它的实参。分别是:
/*
* Mounting matrix configuration applied for Accel, Gyro and Mag
*/
static const float cfg_mounting_matrix[9]= {
1.f, 0, 0,
0, 1.f, 0,
0, 0, 1.f
};
和
/** @brief Sensor identifier for control function
*/
enum inv_icm20948_sensor {
INV_ICM20948_SENSOR_ACCELEROMETER,
INV_ICM20948_SENSOR_GYROSCOPE,
INV_ICM20948_SENSOR_RAW_ACCELEROMETER,
INV_ICM20948_SENSOR_RAW_GYROSCOPE,
INV_ICM20948_SENSOR_MAGNETIC_FIELD_UNCALIBRATED,
INV_ICM20948_SENSOR_GYROSC