sensor_fusion.h

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#pragma once

#include "sensor_common.h"

#ifdef  __cplusplus
extern "C" {
#endif

const uint8_t MBL_MW_SENSOR_FUSION_CALIBRATION_ACCURACY_UNRELIABLE = 0,
        MBL_MW_SENSOR_FUSION_CALIBRATION_ACCURACY_LOW = 1,
        MBL_MW_SENSOR_FUSION_CALIBRATION_ACCURACY_MEDIUM = 2,
        MBL_MW_SENSOR_FUSION_CALIBRATION_ACCURACY_HIGH = 3;

typedef enum {
    MBL_MW_SENSOR_FUSION_MODE_SLEEP = 0,
    MBL_MW_SENSOR_FUSION_MODE_NDOF,
    MBL_MW_SENSOR_FUSION_MODE_IMU_PLUS,
    MBL_MW_SENSOR_FUSION_MODE_COMPASS,
    MBL_MW_SENSOR_FUSION_MODE_M4G
} MblMwSensorFusionMode;

typedef enum {
    MBL_MW_SENSOR_FUSION_ACC_RANGE_2G = 0,
    MBL_MW_SENSOR_FUSION_ACC_RANGE_4G,
    MBL_MW_SENSOR_FUSION_ACC_RANGE_8G,
    MBL_MW_SENSOR_FUSION_ACC_RANGE_16G
} MblMwSensorFusionAccRange;

typedef enum {
    MBL_MW_SENSOR_FUSION_GYRO_RANGE_2000DPS = 0,
    MBL_MW_SENSOR_FUSION_GYRO_RANGE_1000DPS,
    MBL_MW_SENSOR_FUSION_GYRO_RANGE_500DPS,
    MBL_MW_SENSOR_FUSION_GYRO_RANGE_250DPS
} MblMwSensorFusionGyroRange;

typedef enum {
    MBL_MW_SENSOR_FUSION_DATA_CORRECTED_ACC = 0,
    MBL_MW_SENSOR_FUSION_DATA_CORRECTED_GYRO,
    MBL_MW_SENSOR_FUSION_DATA_CORRECTED_MAG,
    MBL_MW_SENSOR_FUSION_DATA_QUATERNION,
    MBL_MW_SENSOR_FUSION_DATA_EULER_ANGLE,
    MBL_MW_SENSOR_FUSION_DATA_GRAVITY_VECTOR,
    MBL_MW_SENSOR_FUSION_DATA_LINEAR_ACC
} MblMwSensorFusionData;

typedef struct {
    uint8_t acc[10];
    uint8_t gyro[10];
    uint8_t mag[10];
} MblMwCalibrationData;
typedef void(*MblMwFnBoardPtrCalibDataPtr)(void *context, MblMwMetaWearBoard* board, const MblMwCalibrationData* data);

METAWEAR_API MblMwDataSignal* mbl_mw_sensor_fusion_get_data_signal(const MblMwMetaWearBoard* board, MblMwSensorFusionData data);
METAWEAR_API MblMwDataSignal* mbl_mw_sensor_fusion_calibration_state_data_signal(const MblMwMetaWearBoard* board);

METAWEAR_API void mbl_mw_sensor_fusion_set_mode(MblMwMetaWearBoard* board, MblMwSensorFusionMode mode);
METAWEAR_API void mbl_mw_sensor_fusion_set_acc_range(MblMwMetaWearBoard* board, MblMwSensorFusionAccRange range);
METAWEAR_API void mbl_mw_sensor_fusion_set_gyro_range(MblMwMetaWearBoard* board, MblMwSensorFusionGyroRange range);
METAWEAR_API void mbl_mw_sensor_fusion_write_config(MblMwMetaWearBoard* board);
METAWEAR_API void mbl_mw_sensor_fusion_read_config(const MblMwMetaWearBoard* board, void *context, MblMwFnBoardPtrInt completed);

METAWEAR_API void mbl_mw_sensor_fusion_read_calibration_data(MblMwMetaWearBoard* board, void *context, MblMwFnBoardPtrCalibDataPtr completed);
METAWEAR_API void mbl_mw_sensor_fusion_write_calibration_data(const MblMwMetaWearBoard* board, const MblMwCalibrationData* data);

METAWEAR_API void mbl_mw_sensor_fusion_enable_data(MblMwMetaWearBoard* board, MblMwSensorFusionData data);
METAWEAR_API void mbl_mw_sensor_fusion_clear_enabled_mask(MblMwMetaWearBoard* board);

METAWEAR_API void mbl_mw_sensor_fusion_start(const MblMwMetaWearBoard* board);
METAWEAR_API void mbl_mw_sensor_fusion_stop(const MblMwMetaWearBoard* board);

#ifdef  __cplusplus
}
#endif