Initial commit

IMU and bubble level working

main/system.h

@@ -0,0 +1,56 @@
+#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];
+} ImuData_t;
+
+typedef struct SystemState_s
+{
+	ImuData_t imu;
+
+	EventGroupHandle_t event;
+} SystemState_t;
+
+
+
+#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);
+
+
+#endif