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