imu.h

/**
 * @file imu.h
 * @author Thankfully not Timarrr (tigrmango@gmail.com)
 * @brief Abomination of code that somebody wrote probably high on something.
 * @version 0.1
 * @date 2023-03-31
 *
 * @copyright Copyright (c) 2023
 *
 */

#ifndef IMU_H
#define IMU_H
#include "Uart.h"
#include <Arduino.h>
#include <cstddef>
#include <cstdint>
#define IMU_MAX_PACKET_LEN 256

namespace IMUHelpers {
    enum status {
        kStatus_Idle,
        kStatus_Cmd,
        kStatus_LenLow,
        kStatus_LenHigh,
        kStatus_CRCLow,
        kStatus_CRCHigh,
        kStatus_Data,
    };

    typedef enum {
        kItemKeyStatus      = 0x80, /* key status           size: 4 */
        kItemID             = 0x90, /* user programed ID    size: 1 */
        kItemUID            = 0x91, /* Unique ID            size: 4 */
        kItemIPAdress       = 0x92, /* ip address           size: 4 */
        kItemAccRaw         = 0xA0, /* raw acc              size: 3x2 */
        kItemAccRawFiltered = 0xA1,
        kItemAccLinear      = 0xA2,
        kItemAccCalibrated  = 0xA3,
        kItemGyoRaw         = 0xB0, /* raw gyro             size: 3x2 */
        kItemGyoRawFiltered = 0xB1,
        kItemGyoCalibrated  = 0xB3,
        kItemMagRaw         = 0xC0, /* raw mag              size: 3x2 */
        kItemMagRawFiltered = 0xC1,
        kItemMagCalibrated  = 0xC3,
        kItemAtdE           = 0xD0, /* eular angle          size:3x2 */
        kItemAtdQ           = 0xD1, /* att q,               size:4x4 */
        kItemTemp           = 0xE0,
        kItemPressure       = 0xF0, /* pressure             size:1x4 */
        kItemEnd            = 0xFF,
    } ItemID_t;

    typedef struct Packet_t {
        uint32_t ofs;
        uint8_t  buf[IMU_MAX_PACKET_LEN] = {0};
        uint16_t payload_len;
        uint16_t len;
        uint8_t  type;
    } Packet_t;
} // namespace IMUHelpers

/**
 * @brief I am \b {NOT} documenting this... Yet
 *
 */
class IMUSensor {
  public:
    IMUSensor(bool launch, bool test);
    float    getPitch();
    float    getPitchCal();
    float    getYaw();
    float    getYawCal();
    float    getRoll();
    float    getRollCal();
    float    getAccel0();
    float    getAccel1();
    float    getAccel2();
    void     invalidateCalibration() { calibrated = false; };
    int16_t *getMagnetRawPtr() { return (int16_t *)MagnetRaw; }
    int16_t *getGyroRawPtr() { return (int16_t *)GyroRaw; }
    void     update();
    void     end();

  private:
    IMUHelpers::Packet_t RxPkt;

    uint8_t ID;
    int16_t AccelRaw[3]  = {0, 0, 0};
    int16_t GyroRaw[3]   = {0, 0, 0};
    int16_t MagnetRaw[3] = {0, 0, 0};
    float   Accel[3]     = {0.0, 0.0, 0.0};
    float   Euler[3]     = {0.0, 0.0, 0.0};
    float   EulerCal[3]  = {0.0, 0.0, 0.0};
    bool    calibrated   = false;

    void imuCrc16Update(uint16_t *currentCrc, const uint8_t *src,
                        uint32_t lengthInBytes);
    void imuPacketDecode(uint8_t c);
    void imuUpdateEuler(IMUHelpers::Packet_t *pkt);

    bool inactive = false;
};

#endif