tilt.h

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#ifndef INFUSE_SDK_INCLUDE_INFUSE_ALGORITHM_RUNNER_ALGORITHMS_TILT_H_
#define INFUSE_SDK_INCLUDE_INFUSE_ALGORITHM_RUNNER_ALGORITHMS_TILT_H_
 
#include <stdint.h>
 
#include <zephyr/toolchain.h>
 
#include <infuse/algorithm_runner/runner.h>
#include <infuse/math/statistics.h>
#include <infuse/math/filter.h>
#include <infuse/zbus/channels.h>
 
#ifdef __cplusplus
extern "C" {
#endif

 
enum {
        ALGORITHM_TILT_LOG_ANGLE = BIT(0),
};
 
/* Algorithm runtime state */
struct algorithm_tilt_data {
        struct iir_filter_single_pole_f32 filter;
        struct kv_gravity_reference gravity;
        uint32_t kv_store_crc;
        uint16_t gravity_mag;
        bool reference_valid;
};

void algorithm_tilt_fn(const struct zbus_channel *chan, const struct infuse_algorithm *algorithm,
                       const void *args, void *data);

#define ALGORITHM_TILT_DEFINE(name, loggers_, tdfs, filter_alpha, one_g_valid_percent)             \
        static void name##_wrapper(const struct zbus_channel *chan,                                \
                                   const struct infuse_algorithm *algorithm, const void *args)     \
        {                                                                                          \
                static struct algorithm_tilt_data data;                                            \
                algorithm_tilt_fn(chan, algorithm, args, &data);                                   \
        }                                                                                          \
        static struct kv_alg_tilt_args name##_default_args = {                                     \
                .logging =                                                                         \
                        {                                                                          \
                                .loggers = loggers_,                                               \
                                .tdf_mask = tdfs,                                                  \
                        },                                                                         \
                .args =                                                                            \
                        {                                                                          \
                                .iir_filter_alpha = filter_alpha,                                  \
                                .one_g_percent = one_g_valid_percent,                              \
                        },                                                                         \
        };                                                                                         \
        static const struct infuse_algorithm name = {                                              \
                .fn = name##_wrapper,                                                              \
                .algorithm_id = 0x15F20001,                                                        \
                .zbus_channel = INFUSE_ZBUS_CHAN_IMU,                                              \
                .arguments = &name##_default_args,                                                 \
                .arguments_size = sizeof(struct kv_alg_tilt_args),                                 \
                .arguments_kv_key = KV_KEY_ALG_TILT_ARGS,                                          \
        }

 
#ifdef __cplusplus
}
#endif
 
#endif /* INFUSE_SDK_INCLUDE_INFUSE_ALGORITHM_RUNNER_ALGORITHMS_TILT_H_ */