43 lines
1.3 KiB
C
43 lines
1.3 KiB
C
#ifndef FUSION_BUS_H
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#define FUSION_BUS_H
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#include <stdbool.h>
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#include <stdint.h>
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#include "fusion_measurement.h"
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#ifndef FUSION_IMU_QUEUE_CAPACITY
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#define FUSION_IMU_QUEUE_CAPACITY 256u
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#endif
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#ifndef FUSION_GPS_QUEUE_CAPACITY
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#define FUSION_GPS_QUEUE_CAPACITY 8u
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#endif
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typedef struct {
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fusion_imu_measurement_t imu_queue[FUSION_IMU_QUEUE_CAPACITY];
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fusion_gps_measurement_t gps_queue[FUSION_GPS_QUEUE_CAPACITY];
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volatile unsigned int imu_head;
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volatile unsigned int imu_tail;
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volatile unsigned int gps_head;
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volatile unsigned int gps_tail;
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volatile uint64_t imu_overflow_count;
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volatile uint64_t gps_overflow_count;
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} fusion_bus_t;
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void fusion_bus_init(fusion_bus_t* bus);
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/* Single producer (TDK ISR), single consumer (foreground). */
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bool fusion_bus_publish_imu(fusion_bus_t* bus,
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const fusion_imu_measurement_t* measurement);
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bool fusion_bus_take_imu(fusion_bus_t* bus,
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fusion_imu_measurement_t* measurement_out);
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/* Single producer (GPS WLS foreground), single fusion consumer. */
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bool fusion_bus_publish_gps(fusion_bus_t* bus,
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const fusion_gps_measurement_t* measurement);
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bool fusion_bus_take_gps(fusion_bus_t* bus,
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fusion_gps_measurement_t* measurement_out);
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#endif
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