Fusion.h

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#ifndef _FUSION_H_
#define _FUSION_H_

#include "main.h"
#include "math.h"
#include "TargetFeatures.h"
#include "motion_gc.h"

typedef union
{
    float array[3]; 
    struct
    {
        float x; 
        float y; 
        float z; 
    } axis;
} Vector3;

typedef struct
{
    float w;
    float x;
    float y;
    float z;
} Quaternion;

typedef struct
{
    float Roll;     
    float Pitch;    
    float Yaw;      
} Orientation;

typedef struct
{
    Vector3 linearAcceleration; 
    Vector3 gravity; 
    Orientation orientation; 
    Quaternion quaternion; 
} Fusion;

typedef struct
{
    Vector3 acc;        
    Vector3 gyro;       
} SensorDataNormalised;


Vector3 SubstractVector3(const Vector3 *vectorA, const Vector3 *vectorB);

void CalculateOrientation(Fusion *fusion);

void CalculateLinearAcceleration(Fusion *fusion, const Vector3 *acceleration);

Vector3 GetLinearAcceleration(const Fusion *fusion);

Orientation GetOrientation(const Fusion *fusion);

void GetReadings(const SensorHandles *handle, SensorDataNormalised *dataOut);

float deg2rad(float degrees);

void MotionGC_Init(float freq);

void MotionGC_updateBias(SensorDataNormalised *imuData, uint8_t *isStable);



#endif