add damiao imu module

User_Code/module/periph/imu/damiao_imu/damiao_imu.h

@@ -1,8 +1,128 @@
-//
-// Created by ASUS on 2025/11/17.
-//
+#ifndef __DM_IMU_H
+#define __DM_IMU_H
 
-#ifndef TRONONEH7_SCAFFOLD_DAMIAO_IMU_H
-#define TRONONEH7_SCAFFOLD_DAMIAO_IMU_H
+#include "stm32h7xx_hal.h"
 
-#endif //TRONONEH7_SCAFFOLD_DAMIAO_IMU_H
+
+#define ACCEL_CAN_MAX (235.2f)
+#define ACCEL_CAN_MIN	(-235.2f)
+#define GYRO_CAN_MAX	(34.88f)
+#define GYRO_CAN_MIN	(-34.88f)
+#define PITCH_CAN_MAX	(90.0f)
+#define PITCH_CAN_MIN	(-90.0f)
+#define ROLL_CAN_MAX	(180.0f)
+#define ROLL_CAN_MIN	(-180.0f)
+#define YAW_CAN_MAX		(180.0f)
+#define YAW_CAN_MIN 	(-180.0f)
+#define TEMP_MIN			(0.0f)
+#define TEMP_MAX			(60.0f)
+#define Quaternion_MIN	(-1.0f)
+#define Quaternion_MAX	(1.0f)
+
+#define CMD_READ 0
+#define CMD_WRITE 1
+
+typedef enum
+{
+    COM_USB = 0,
+    COM_RS485,
+    COM_CAN,
+    COM_VOFA
+
+} imu_com_port_e;
+
+typedef enum
+{
+    CAN_BAUD_1M = 0,
+    CAN_BAUD_500K,
+    CAN_BAUD_400K,
+    CAN_BAUD_250K,
+    CAN_BAUD_200K,
+    CAN_BAUD_100K,
+    CAN_BAUD_50K,
+    CAN_BAUD_25K
+
+} imu_baudrate_e;
+
+typedef enum
+{
+    REBOOT_IMU = 0,
+    ACCEL_DATA,
+    GYRO_DATA,
+    EULER_DATA,
+    QUAT_DATA,
+    SET_ZERO,
+    ACCEL_CALI,
+    GYRO_CALI,
+    MAG_CALI,
+    CHANGE_COM,
+    SET_DELAY,
+    CHANGE_ACTIVE,
+    SET_BAUD,
+    SET_CAN_ID,
+    SET_MST_ID,
+    DATA_OUTPUT_SELECTION,
+    SAVE_PARAM = 254,
+    RESTORE_SETTING = 255
+} reg_id_e;
+
+
+typedef struct
+{
+    uint8_t can_id;
+    uint8_t mst_id;
+
+    FDCAN_HandleTypeDef *can_handle;
+
+    float pitch;
+    float roll;
+    float yaw;
+
+    float gyro[3];
+    float accel[3];
+
+    float q[4];
+
+    float cur_temp;
+
+} imu_t;
+
+void imu_init(uint8_t can_id, uint8_t mst_id, FDCAN_HandleTypeDef *hfdcan);
+
+void imu_write_reg(uint8_t reg_id, uint32_t data);
+
+void imu_read_reg(uint8_t reg_id);
+
+void imu_reboot();
+
+void imu_accel_calibration();
+
+void imu_gyro_calibration();
+
+void imu_change_com_port(imu_com_port_e port);
+
+void imu_set_active_mode_delay(uint32_t delay);
+
+void imu_change_to_active();
+
+void imu_change_to_request();
+
+void imu_set_baud(imu_baudrate_e baud);
+
+void imu_set_can_id(uint8_t can_id);
+
+void imu_set_mst_id(uint8_t mst_id);
+
+void imu_save_parameters();
+
+void imu_restore_settings();
+
+void imu_request_accel();
+
+void imu_request_gyro();
+
+void imu_request_euler();
+
+void imu_request_quat();
+
+#endif