69 lines
2.3 KiB
C
69 lines
2.3 KiB
C
#ifndef IMU_SENSOR_H
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#define IMU_SENSOR_H
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#include <stdbool.h>
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#include <stdint.h>
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#include "imu/imu_calibration.h"
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#include "imu/imu_sample.h"
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typedef enum {
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IMU_SENSOR_NONE = 0,
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IMU_SENSOR_TDK_ICM42688,
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IMU_SENSOR_ST_LSM6DSOX,
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IMU_SENSOR_BACKEND_COUNT
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} imu_sensor_backend_t;
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typedef struct {
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/* Zero selects the active backend's safe default. A non-zero target may
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* be quantized to a nearby hardware ODR; diagnostics reports both values. */
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uint32_t odr_hz;
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unsigned int accel_full_scale_g;
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unsigned int gyro_full_scale_dps;
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/* Auto-detected devices must never share board-specific calibration. */
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imu_calibration_t calibration_by_backend[IMU_SENSOR_BACKEND_COUNT];
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} imu_sensor_config_t;
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typedef struct {
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uint64_t irq_count;
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uint64_t sample_count;
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uint64_t invalid_sample_count;
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uint64_t spurious_irq_count;
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uint64_t queue_overflow_count;
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uint64_t estimated_missed_sample_count;
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uint64_t last_timestamp_ticks;
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uint32_t requested_odr_hz;
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uint32_t configured_odr_hz;
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uint8_t who_am_i;
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imu_sensor_backend_t backend;
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bool initialized;
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bool running;
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bool foreground_polling;
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} imu_sensor_diagnostics_t;
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void imu_sensor_default_config(imu_sensor_config_t* config);
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/* Probe the compiled backend(s), select one, validate the requested ODR/range
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* and prepare calibration. This does not enable data-ready interrupts. */
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bool imu_sensor_init(const imu_sensor_config_t* config);
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/* Configure streaming and enable BSP_PMOD_IRQ. The application must attach
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* imu_sensor_irq_handler to the active machine-interrupt router first. */
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bool imu_sensor_start(void);
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void imu_sensor_stop(void);
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/* PLIC/ISR half: read and timestamp one raw sample, then enqueue it. */
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void imu_sensor_irq_handler(void);
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/* Foreground half. Safe no-op for the current interrupt-driven backends. */
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void imu_sensor_service(void);
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bool imu_sensor_requires_foreground_service(void);
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/* Pop the oldest sample, convert to SI/common axes and apply the selected
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* backend's calibration. No averaging or motion decision occurs here. */
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bool imu_sensor_take_measurement(imu_sample_t* measurement_out);
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void imu_sensor_get_diagnostics(imu_sensor_diagnostics_t* diagnostics_out);
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imu_sensor_backend_t imu_sensor_active_backend(void);
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const char* imu_sensor_backend_name(imu_sensor_backend_t backend);
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#endif
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