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

#include <dw/sensors/Sensors.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef enum dwIMUFlags {

    DW_IMU_HEADING      = 1 << 1,    

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

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

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

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

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

} dwIMUFlags;

typedef enum dwIMUHeadingType {

    DW_IMU_HEADING_TRUE        = 0,    

    DW_IMU_HEADING_MAGNECTIC   = 1,    

} dwIMUHeadingType;


#pragma pack(push,1) // Make sure we have consistent structure packings

typedef struct dwIMUFrame {

    uint32_t flags;

    dwTime_t timestamp_us;

    float64_t orientation[3];

    float64_t orientationQuaternion[4];

    float64_t turnrate[3];

    float64_t acceleration[3];

    float64_t magnetometer[3];

    float64_t heading;

    dwIMUHeadingType headingType;

} dwIMUFrame;

#pragma pack(pop)


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

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

DW_API_PUBLIC
dwStatus dwSensorIMU_popMessage(dwIMUFrame *frame,
                                dwSensorHandle_t sensor);

#ifdef __cplusplus
}
#endif

#endif // DW_SENSORS_IMU_IMU_H__