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/fs/kv_types.h>
#include <infuse/zbus/channels.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
enum {
        ALGORITHM_TILT_LOG_ANGLE = BIT(0),
};
 
struct algorithm_tilt_config {
        struct algorithm_runner_common_config common;
        float iir_filter_alpha;
        uint8_t one_g_percent;
} __packed;
 
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 void *config, void *data);
 
#define ALGORITHM_TILT_DEFINE(name, loggers_, tdfs, filter_alpha, one_g_valid_percent)             \
        static const struct algorithm_tilt_config name##_config = {                                \
                .common =                                                                          \
                        {                                                                          \
                                .algorithm_id = 0x15F20001,                                        \
                                .zbus_channel = INFUSE_ZBUS_CHAN_IMU,                              \
                                .state_size = sizeof(struct algorithm_tilt_data),                  \
                                .logging =                                                         \
                                        {                                                          \
                                                .loggers = loggers_,                               \
                                                .tdf_mask = tdfs,                                  \
                                        },                                                         \
                        },                                                                         \
                .iir_filter_alpha = filter_alpha,                                                  \
                .one_g_percent = one_g_valid_percent,                                              \
        };                                                                                         \
        static struct algorithm_tilt_data name##_data;                                             \
        static struct algorithm_runner_algorithm name = {                                          \
                .impl = algorithm_tilt_fn,                                                         \
                .config = &name##_config.common,                                                   \
                .runtime_state = &name##_data,                                                     \
        }
 
#ifdef __cplusplus
}
#endif
 
#endif /* INFUSE_SDK_INCLUDE_INFUSE_ALGORITHM_RUNNER_ALGORITHMS_TILT_H_ */