This is yet another library to access MARG devices, but this one is meant to be portable, ie. it shouldn't depend on much more than a not-too-bad libc, shouldn't contain tranport code, and yes it doesn't contain sensor fusion stuff.
Sensors are providing a structure deriving from struct imu, and implement
the functions in there.
Clients provide some OS functions (how to sleep, how to get a timestamp, how to access the sensor using OS/system facilities (typ. I2C or SPI).
Clients retrieve the engineering values, and use them to perform their sensor fusion.
The clients can either build the .c files, or include the .i files
in their own C files to have inline code.
The library can be installed on a UNIX system and you can
#include imu/imu_${type}.{h,i}.
Regular build uses the waf build system, but you're free to use another one if you feel like it, it should be simple enough.
See the _test.c files.
MIT License, with attribution of your contributed bits.