Adding environment setup and instructions

main/system.c

@@ -8,12 +8,77 @@ static EventManager_t _eventManager;
 
 void system_init(void)
 {
+    _systemState.zeroAngle = 0.0f;
+    _systemState.primaryAxis = PRIMARY_AXIS;
+
 	EventGroupHandle_t evt = xEventGroupCreate();
 
 	_eventManager.count = 0;
     _eventManager.mutex = xSemaphoreCreateMutex();
 }
 
+int system_getPrimaryAxis(void)
+{
+    int axis;
+
+    xSemaphoreTake(_eventManager.mutex, portMAX_DELAY);
+    axis = _systemState.primaryAxis;
+    xSemaphoreGive(_eventManager.mutex);
+
+    return axis;
+}
+
+float system_getAngle(void)
+{
+    float angle;
+
+    xSemaphoreTake(_eventManager.mutex, portMAX_DELAY);
+
+    
+    angle = _systemState.imu.raw[_systemState.primaryAxis] - _systemState.zeroAngle;
+
+
+	xSemaphoreGive(_eventManager.mutex);
+
+    return angle;    
+}
+
+void system_setZeroAngle(void)
+{
+    xSemaphoreTake(_eventManager.mutex, portMAX_DELAY);
+
+    
+	_systemState.zeroAngle = _systemState.imu.raw[_systemState.primaryAxis];
+
+    ESP_LOGI("system", "Zero: %.1f", _systemState.zeroAngle);
+
+	xSemaphoreGive(_eventManager.mutex);
+}
+
+void system_clearZeroAngle(void)
+{
+    xSemaphoreTake(_eventManager.mutex, portMAX_DELAY);
+
+	_systemState.zeroAngle = 0.0f;
+
+    ESP_LOGI("system", "Zero: %.1f", _systemState.zeroAngle);
+
+	xSemaphoreGive(_eventManager.mutex);
+}
+
+float system_getZeroAngle(void)
+{
+    float angle;
+
+    xSemaphoreTake(_eventManager.mutex, portMAX_DELAY);
+
+	angle = _systemState.zeroAngle;
+
+	xSemaphoreGive(_eventManager.mutex);
+
+    return angle;
+}
+
 void system_setImuData(ImuData_t imu)
 {
 	xSemaphoreTake(_eventManager.mutex, portMAX_DELAY);