/*
  N100 陀螺仪数据
*/

#pragma once

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ----------------------------------------------------------------- */
#include <cmsis_os2.h>
#include <stdbool.h>
#include <stdint.h>

#include "component/ahrs.h"

/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */

typedef struct {
    struct {
        uint8_t head;
        uint8_t cmd;
        uint8_t len;
        uint8_t count;
        uint8_t crc8;
    } header; /* 数据包头部 */
    struct {
        uint16_t crc16;
        AHRS_Gyro_t gyro; /* 陀螺仪数据 */
        AHRS_Eulr_t eulr; /* 欧拉角数据 */
        AHRS_Quaternion_t quat; /* 四元数数据 */
        int64_t time; /* 时间戳 */
    } data; /* 数据包内容 */
    uint8_t end;
} N100_AHRS_t;

typedef struct {
  float offset_x;
  float offset_y;
  float offset_z;
} N100_Cali_t;

typedef struct {
  osThreadId_t thread_alert;
  N100_AHRS_t rx_raw;
  AHRS_Gyro_t gyro; /* 陀螺仪数据 */
  AHRS_Eulr_t eulr; /* 欧拉角数据 */
  AHRS_Quaternion_t quat; /* 四元数数据 */
} N100_t;

/* Exported functions prototypes -------------------------------------------- */
int8_t N100_Init(N100_t *n100);
int8_t N100_Restart(void);

int8_t N100_StartReceiving(N100_t *n100);
bool N100_WaitDmaCplt(void);
int8_t N100_ParseData (N100_t *n100, N100_Cali_t *cali);
int8_t N100_HandleOffline(N100_t *n100);

#ifdef __cplusplus
}
#endif