data_types.h

Go to the documentation of this file.

 
#ifndef INFUSE_SDK_INCLUDE_INFUSE_DRIVERS_IMU_DATA_TYPES_H_
#define INFUSE_SDK_INCLUDE_INFUSE_DRIVERS_IMU_DATA_TYPES_H_
 
#include <stdint.h>
 
#include <zephyr/toolchain.h>
 
#ifdef __cplusplus
extern "C" {
#endif


struct imu_sample {
        int16_t x;
        int16_t y;
        int16_t z;
};
/* Validate __packed attribute is not required */
BUILD_ASSERT(sizeof(struct imu_sample) == 6);
BUILD_ASSERT(_Alignof(struct imu_sample) == 2);

struct imu_sensor_meta {
        int64_t timestamp_ticks;
        uint32_t buffer_period_ticks;
        uint16_t full_scale_range;
        uint16_t offset;
        uint16_t num;
};

struct imu_sample_array {
        struct imu_sensor_meta accelerometer;
        struct imu_sensor_meta gyroscope;
        struct imu_sensor_meta magnetometer;
        struct imu_sample samples[];
};

#define IMU_SAMPLE_ARRAY_TYPE_DEFINE(type_name, max_samples)                                       \
        struct type_name {                                                                         \
                struct imu_sample_array header;                                                    \
                struct imu_sample samples[max_samples];                                            \
        }

#define IMU_SAMPLE_ARRAY_CREATE(name, max_samples)                                                 \
        IMU_SAMPLE_ARRAY_TYPE_DEFINE(_anon_t_##name, max_samples);                                 \
        static struct _anon_t_##name _anon_##name;                                                 \
        static struct imu_sample_array *name = (void *)&_anon_##name
 
/* Accelerometer magnitude broadcast structure */
struct imu_magnitude_array {
        /* Metadata for magnitude samples */
        struct imu_sensor_meta meta;
        /* Linear array of all magnitudes */
        uint32_t magnitudes[];
};
 
/* Create type that holds a given number of IMU magnitude samples */
#define IMU_MAG_ARRAY_TYPE_DEFINE(type_name, max_samples)                                          \
        struct type_name {                                                                         \
                struct imu_sensor_meta meta;                                                       \
                uint32_t magnitudes[max_samples];                                                  \
        }

 
#ifdef __cplusplus
}
#endif
 
#endif /* INFUSE_SDK_INCLUDE_INFUSE_DRIVERS_IMU_DATA_TYPES_H_ */