Audio working

main/system.h

@@ -1,62 +1,75 @@
-#ifndef SYSTEM_H
-#define SYSTEM_H
-
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-#include "freertos/semphr.h"
-
-enum
-{
-    ANGLE_XY = 0,
-    ANGLE_XZ,
-    ANGLE_YZ,
-};
-
-
-
-typedef struct
-{
-    float raw[3];
-    float filtered[3];
-    float angle;
-} ImuData_t;
-
-typedef struct SystemState_s
-{
-	ImuData_t imu;
-
-	EventGroupHandle_t event;
-
-
-} SystemState_t;
-
-
-#define MAX_INDICATION_ANGLE    10.0f
-
-#define EM_MAX_SUBSCRIBERS 8    // tweak as needed
-#define EM_EVENT_NEW_DATA   (1UL<<0)
-#define EM_EVENT_ERROR      (1UL<<1)
-// …add more event bit-masks here…
-
-typedef struct {
-    TaskHandle_t subscribers[EM_MAX_SUBSCRIBERS];
-    size_t      count;
-    SemaphoreHandle_t mutex;
-} EventManager_t;
-
-void system_init(void);
-void system_setImuData(ImuData_t imu);
-
-ImuData_t system_getImuData(void);
-
-// Subscribe (register) current task to receive events
-BaseType_t system_subscribe(TaskHandle_t task);
-
-// Unsubscribe if you ever need
-BaseType_t system_unsubscribe(TaskHandle_t task);
-
-// Notify all subscribers of one or more event bits
-void    system_notifyAll(uint32_t eventBits);
-
-
+#ifndef SYSTEM_H
+#define SYSTEM_H
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+
+#define DISABLE_GUI
+
+enum
+{
+    ANGLE_XY = 0,
+    ANGLE_XZ,
+    ANGLE_YZ,
+};
+
+
+
+typedef struct
+{
+    float raw[3];
+    float filtered[3];
+    float angle;
+} ImuData_t;
+
+typedef struct SystemState_s
+{
+	ImuData_t imu;
+
+	EventGroupHandle_t event;
+
+    float zeroAngle;
+    int primaryAxis;
+
+} SystemState_t;
+
+
+#define MAX_INDICATION_ANGLE    5.0f
+#define FILTER_COEFF            0.2f        // 0 to 1   Smaller number is heavier filter
+#define PRIMARY_AXIS            ANGLE_YZ
+
+#define EM_MAX_SUBSCRIBERS 8    // tweak as needed
+#define EM_EVENT_NEW_DATA   (1UL<<0)
+#define EM_EVENT_ERROR      (1UL<<1)
+// …add more event bit-masks here…
+
+typedef struct {
+    TaskHandle_t subscribers[EM_MAX_SUBSCRIBERS];
+    size_t      count;
+    SemaphoreHandle_t mutex;
+} EventManager_t;
+
+void system_init(void);
+void system_setImuData(ImuData_t imu);
+
+ImuData_t system_getImuData(void);
+
+int system_getPrimaryAxis(void);
+float system_getAngle(void);
+
+void system_setZeroAngle(void);
+void system_clearZeroAngle(void);
+float system_getZeroAngle(void);
+
+// Subscribe (register) current task to receive events
+BaseType_t system_subscribe(TaskHandle_t task);
+
+// Unsubscribe if you ever need
+BaseType_t system_unsubscribe(TaskHandle_t task);
+
+// Notify all subscribers of one or more event bits
+void    system_notifyAll(uint32_t eventBits);
+
+
 #endif