/*
 * Gimbal IMU Device - 接收来自云台的CAN IMU数据
 */

#pragma once

#include <math.h>
#ifdef __cplusplus
extern "C" {
#endif

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

#include "bsp/can.h"
#include "component/ahrs.h"
#include "device/device.h"

/* Exported constants ------------------------------------------------------- */

/* 数据范围定义（与发送端保持一致） */
#define GIMBAL_IMU_ACCEL_MAX (58.8f)
#define GIMBAL_IMU_ACCEL_MIN (-58.8f)
#define GIMBAL_IMU_GYRO_MAX  (34.88f)
#define GIMBAL_IMU_GYRO_MIN  (-34.88f)
#define GIMBAL_IMU_PITCH_MAX (90.0f)
#define GIMBAL_IMU_PITCH_MIN (-90.0f)
#define GIMBAL_IMU_ROLL_MAX  (180.0f)
#define GIMBAL_IMU_ROLL_MIN  (-180.0f)
#define GIMBAL_IMU_YAW_MAX   (180.0f)
#define GIMBAL_IMU_YAW_MIN   (-180.0f)
#define GIMBAL_IMU_QUAT_MIN  (-1.0f)
#define GIMBAL_IMU_QUAT_MAX  (1.0f)

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

/* Gimbal IMU参数配置 */
typedef struct {
    BSP_CAN_t can;      /* 使用的CAN总线 */
    uint16_t accl_id;
    uint16_t gyro_id;
    uint16_t eulr_id;
    uint16_t quat_id;
} GIMBAL_IMU_Param_t;

typedef struct {
  AHRS_Accl_t accl;           /* 加速度计数据 */
  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 */
  float temp;                 /* 温度数据 (摄氏度) */
} GIMBAL_IMU_Data_t;


/* Gimbal IMU完整数据结构 */
typedef struct {
  DEVICE_Header_t header;
  GIMBAL_IMU_Param_t param;   /* 参数配置 */
  GIMBAL_IMU_Data_t data;     /* IMU数据 */
} GIMBAL_IMU_t;

/* Exported functions prototypes -------------------------------------------- */

/**
 * @brief 初始化Gimbal IMU设备
 * @param gimbal_imu Gimbal IMU结构体指针
 * @param param 参数配置
 * @return 初始化结果
 *   - DEVICE_OK: 成功
 *   - DEVICE_ERR_NULL: 参数为空
 */
int8_t GIMBAL_IMU_Init(GIMBAL_IMU_t *gimbal_imu, const GIMBAL_IMU_Param_t *param);

/**
 * @brief 更新Gimbal IMU设备状态
 * @param gimbal_imu Gimbal IMU结构体指针
 * @return 更新结果
 *   - DEVICE_OK: 成功
 *   - DEVICE_ERR_NULL: 参数为空
 */
int8_t GIMBAL_IMU_Update(GIMBAL_IMU_t *gimbal_imu);


#ifdef __cplusplus
}
#endif