imu.h

Go to the documentation of this file.

 
#ifndef INFUSE_SDK_INCLUDE_INFUSE_TASK_RUNNER_TASKS_IMU_H_
#define INFUSE_SDK_INCLUDE_INFUSE_TASK_RUNNER_TASKS_IMU_H_
 
#include <zephyr/kernel.h>
 
#include <infuse/drivers/imu.h>
#include <infuse/task_runner/task.h>
#include <infuse/task_runner/schedule.h>
 
#include <infuse/task_runner/tasks/infuse_task_ids.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
/* 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];                                                  \
        }
 
void imu_task_fn(const struct task_schedule *schedule, struct k_poll_signal *terminate,
                 void *imu_dev);
 
#define IMU_TASK(define_mem, define_config, imu_ptr)                                               \
        IF_ENABLED(define_mem,                                                                     \
                   (K_THREAD_STACK_DEFINE(imu_stack_area, CONFIG_TASK_RUNNER_TASK_IMU_STACK_SIZE); \
                    struct k_thread imu_thread_obj))                                               \
        IF_ENABLED(define_config,                                                                  \
                   ({                                                                              \
                           .name = "imu",                                                          \
                           .task_id = TASK_ID_IMU,                                                 \
                           .exec_type = TASK_EXECUTOR_THREAD,                                      \
                           .flags = TASK_FLAG_ARG_IS_DEVICE,                                       \
                           .task_arg.dev = imu_ptr,                                                \
                           .executor.thread =                                                      \
                                   {                                                               \
                                           .thread = &imu_thread_obj,                              \
                                           .task_fn = imu_task_fn,                                 \
                                           .stack = imu_stack_area,                                \
                                           .stack_size = K_THREAD_STACK_SIZEOF(imu_stack_area),    \
                                   },                                                              \
                   }))
 
#ifdef __cplusplus
}
#endif
 
#endif /* INFUSE_SDK_INCLUDE_INFUSE_TASK_RUNNER_TASKS_IMU_H_ */