Sensors.h

#ifndef SENSORS_H_
#define SENSORS_H_

void ACC_getADC ();
void Gyro_getADC ();
#if defined(MAG)
uint8_t Mag_getADC ();
#endif
#if defined(BARO)
uint8_t Baro_update ();
#endif
#if defined(SONAR)
uint8_t Sonar_update ();
#endif
#if defined(PITOT)
void Pitot_update ();
#endif

void initSensors ();
void i2c_rep_start (uint8_t address);
void i2c_write (uint8_t data);
void i2c_stop (void);
void i2c_write (uint8_t data);
void i2c_writeReg (uint8_t add, uint8_t reg, uint8_t val);
uint8_t i2c_readReg (uint8_t add, uint8_t reg);
uint8_t i2c_readAck ();
uint8_t i2c_readNak ();

void i2c_read_reg_to_buf (uint8_t add, uint8_t reg, uint8_t * buf,
                          uint8_t size);

#if defined(IMPLEMENTATION)
#define IMPLEMENTATION_DEFINED
#endif

#undef IMPLEMENTATION
#include "drivers/sensors/sensors.hpp"

#if defined(IMPLEMENTATION_DEFINED)
#define IMPLEMENTATION
#endif

#define ACCZ_25deg   (int16_t)(ACC_1G * 0.90631)	// 0.90631 = cos(25deg) (cos(theta) of accZ comparison)
#define ACC_VelScale (9.80665f / 10000.0f / ACC_1G)
#endif /* SENSORS_H_ */