/*
 * IMU.hpp
 *
 *  Created on: Aug 17, 2025
 *      Author: jakoboberbuchner
 */

#ifndef AUTOPILOT_SHARED_DATA_IMU_HPP_
#define AUTOPILOT_SHARED_DATA_IMU_HPP_

#include <stdint.h>

namespace IMU {


enum class Orientation {
	ENU = 0, // +X = East, +Y = North, +Z = up
	NED = 1, // +X = North, +Y = East, +Z = down
};


struct Data {

	int16_t magX = 0;
	int16_t magY = 0;
	int16_t magZ = 0;

	int16_t temp = 0;

	int16_t accX = 0;
	int16_t accY = 0;
	int16_t accZ = 0;

	int16_t gyrX = 0;
	int16_t gyrY = 0;
	int16_t gyrZ = 0;

	float temperature;

	Orientation orientation = Orientation::ENU;

	uint8_t* imuDataPtr( void ) {
		return (uint8_t*)&temp;
	}

	uint8_t* magDataPtr( void ) {
		return (uint8_t*)&magX;
	}

	void calcTemperature( void ) {
		temperature = (((float)temp / 256.0f) + 25.0f);
	}
};



} // namespace IMU



#endif /* AUTOPILOT_SHARED_DATA_IMU_HPP_ */