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

#ifndef INC_APP_IMU_DMP_H_
#define INC_APP_IMU_DMP_H_

#include "app_bridge.h"


#ifdef __cplusplus
extern "C"
{
#endif

#define ACC_MULT_LOG     -4
#define GYR_MULT_LOG     -2
#define EUL_MULT_LOG     -2

#define ACC_MULT_NUM      10000
#define GYR_MULT_NUM      100
#define EUL_MULT_NUM      100

#define ACC_BYTES      	  3
#define GYR_BYTES         2
#define EUL_BYTES         3


enum imu_sensorID_t
{
	ID_ALL = 0,
	ID_ACCELEROMETER = 1,
	ID_GYROSCOPE = 2,
	ID_EULER_ANGLES_GAUGE = 3
};

nBusAppInterface_t *getImuDriver();
void imuDmp_init(void *hw_interface, void *hw_config);
void imuDmp_reset();
nBus_sensorType_t imuDmp_getType(uint8_t sensor_index);
nBus_sensorCount_t imuDmp_getSensorCount();

uint8_t imuDmp_getData(uint8_t sensor_index, uint8_t *data);
nBus_statusType_t imuDmp_setData(uint8_t *data, uint8_t count, uint8_t *response);

uint8_t imuDmp_hasParam(uint8_t sensor_index, nBus_param_t param_name);
int32_t imuDmp_getParam(uint8_t sensor_index, nBus_param_t param_name);
nBus_statusType_t imuDmp_setParam(uint8_t sensor_index, nBus_param_t param_name, int32_t param_value);

nBus_statusType_t imuDmp_start(void);
nBus_statusType_t imuDmp_stop(void);
void imuDmp_readData(void);
uint8_t imuDmp_store(void);

nBus_statusType_t imuDmp_calibrate(uint8_t sensor_index);
nBus_sensorFormat_t imuDmp_getSensorFormat(uint8_t sensor_index);
nBus_statusType_t imuDmp_find(uint8_t enable);
uint8_t imuDmp_device_ready();


#ifdef __cplusplus
}
#endif

#endif /* INC_APP_IMU_DMP_H_ */