/*
 * app_imu.h
 *
 *  Created on: Nov 23, 2023
 *      Author: juraj
 */

#ifndef INC_APP_IMU_H_
#define INC_APP_IMU_H_

#include "app_bridge.h"

#if MODULE == MODULE_IMU
#include "icm_datatypes.h"
#endif

#ifdef __cplusplus
extern "C"
{
#endif

nBusAppInterface_t *getImuDriver();
void mcu_spi_init(void *hw_interface, void *hw_config);
void mcu_spi_reset();
void mcu_spi_start();
void mcu_spi_stop();
nBus_sensorType_t mcu_spi_getType(uint8_t sensor_index);
uint8_t mcu_spi_getSensorCount();
uint8_t mcu_spi_getData(uint8_t sensor_index, uint8_t *data);
uint8_t mcu_spi_setData(uint8_t *data);
int32_t mcu_spi_getParam(uint8_t sensor_index, nBus_param_t param);
uint8_t mcu_spi_hasParam(uint8_t sensor_index, nBus_param_t param);
nBus_param_t mcu_spi_setParam(uint8_t sensor_index, nBus_param_t param, int32_t value);
void mcu_spi_readData(void);
/**
 * Run calibration procedure.
 * @param subslaveIndex index of sublave (specific sensor) to run calibration procedure. Can be: 0 - all sensors, 1, 2 - sensor index
 * @param calibrationParamsNum number of input calibration values for sensors
 * @param calibrationParams array of calibration parameters
 * @note calibrationParams  needs to be updated, because it is only uint8_t array for now
 * @return 1 - success, 0 - sensor not found (when subslaveIndex != 0)
 */
uint8_t mcu_spi_calibrate(uint8_t subslaveIndex, uint8_t calibrationParamsNum, uint8_t *calibrationParams);
//uint8_t mcu_spi_store(void);

#ifdef __cplusplus
}
#endif

#endif /* INC_APP_IMU_H_ */