IMU.h

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#ifndef DW_SENSORS_IMU_IMU_H_
#define DW_SENSORS_IMU_IMU_H_

#include <dw/core/Config.h>
#include <dw/core/base/Exports.h>
#include <dw/core/base/Types.h>

#include <dw/sensors/Sensors.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef enum dwIMUFlags {

    DW_IMU_HEADING = 1U << 1, 

    DW_IMU_ROLL  = 1U << 2, 
    DW_IMU_PITCH = 1U << 3, 
    DW_IMU_YAW   = 1U << 4, 

    DW_IMU_QUATERNION_X = 1U << 5, 
    DW_IMU_QUATERNION_Y = 1U << 6, 
    DW_IMU_QUATERNION_Z = 1U << 7, 
    DW_IMU_QUATERNION_W = 1U << 8, 

    DW_IMU_ROLL_RATE  = 1U << 9,  
    DW_IMU_PITCH_RATE = 1U << 10, 
    DW_IMU_YAW_RATE   = 1U << 11, 

    DW_IMU_ACCELERATION_X = 1U << 12, 
    DW_IMU_ACCELERATION_Y = 1U << 13, 
    DW_IMU_ACCELERATION_Z = 1U << 14, 

    DW_IMU_MAGNETOMETER_X = 1U << 15, 
    DW_IMU_MAGNETOMETER_Y = 1U << 16, 
    DW_IMU_MAGNETOMETER_Z = 1U << 17  

} dwIMUFlags;

typedef enum dwIMUHeadingType {

    DW_IMU_HEADING_TRUE = 0, 

    DW_IMU_HEADING_MAGNETIC = 1, 

} dwIMUHeadingType;

typedef struct dwIMUFrame
{
    uint32_t flags;

    dwTime_t timestamp_us;

    float64_t orientation[3];

    dwQuaterniond orientationQuaternion;

    float64_t turnrate[3];

    float64_t acceleration[3];

    float64_t magnetometer[3];

    float64_t heading;

    dwIMUHeadingType headingType;

} dwIMUFrame;

DW_API_PUBLIC
dwStatus dwSensorIMU_readFrame(dwIMUFrame* const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor);

DW_API_PUBLIC
dwStatus dwSensorIMU_processRawData(uint8_t const* const data, size_t const size, dwSensorHandle_t const sensor);

DW_API_PUBLIC
dwStatus dwSensorIMU_popFrame(dwIMUFrame* const frame, dwSensorHandle_t const sensor);

#ifdef __cplusplus
}
#endif

#endif // DW_SENSORS_IMU_IMU_H_