fusion.h

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/*
 * Copyright (c) 2021 Kevin Townsend
 *
 * SPDX-License-Identifier: Apache-2.0
 */
 
#ifndef ZEPHYR_INCLUDE_ZSL_FUSION_H_
#define ZEPHYR_INCLUDE_ZSL_FUSION_H_
 
#include <zsl/zsl.h>
#include <zsl/vectors.h>
#include <zsl/matrices.h>
#include <zsl/orientation/quaternions.h>
#include <zsl/orientation/fusion/madgwick.h>
#include <zsl/orientation/fusion/mahony.h>
#include <zsl/orientation/fusion/saam.h>
#include <zsl/orientation/fusion/aqua.h>
#include <zsl/orientation/fusion/complementary.h>
#include <zsl/orientation/fusion/kalman.h>
#include <zsl/orientation/fusion/calibration.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef int (*zsl_fus_init_cb_t)(uint32_t freq, void *cfg);
 
typedef int (*zsl_fus_feed_cb_t)(struct zsl_vec *accel,
                 struct zsl_vec *mag, struct zsl_vec *gyro,
                 zsl_real_t *incl, struct zsl_quat *q, void *cfg);
 
typedef void (*zsl_fus_error_cb_t)(int error);
 
struct zsl_fus_drv {
    zsl_fus_init_cb_t init_handler;
 
    zsl_fus_feed_cb_t feed_handler;
 
    zsl_fus_error_cb_t error_handler;
 
    void *config;
};
 
#ifdef __cplusplus
}
#endif
 
#endif /* ZEPHYR_INCLUDE_ZSL_FUSION_H_ */
 /* End of fusion group */