imu.h

#pragma once
 
/************************************************************************************************
 * @file   imu.h
 *
 * @brief  Header file for imu
 *
 * @date   2025-12-31
 * @author Midnight Sun Team #24 - MSXVI
 ************************************************************************************************/
 
/* Standard library Headers */
 
/* Inter-component Headers */
#include "can.h"
#include "spi.h"
 
/* Intra-component Headers */
#include "bmi323.h"
 
StatusCode imu_init(Bmi323Storage *storage, Bmi323Settings *settings);
 
StatusCode imu_run();
 
#define DELTA_T 0.1f
#define PI 3.14159265358f
#define GYRO_MEAN_ERROR (PI * (5.0f / 180.0f))
#define BETA 0.8660254f * GYRO_MEAN_ERROR
 
#include <math.h>
#include <stdio.h>
 
struct quaternion {
  float q1;
  float q2;
  float q3;
  float q4;
};
 
extern struct quaternion q_est;
 
struct quaternion quat_mult(struct quaternion q_L, struct quaternion q_R);
static inline void quat_scalar(struct quaternion *q, float scalar) {
  q->q1 *= scalar;
  q->q2 *= scalar;
  q->q3 *= scalar;
  q->q4 *= scalar;
}
static inline void quat_add(struct quaternion *Sum, struct quaternion L, struct quaternion R) {
  Sum->q1 = L.q1 + R.q1;
  Sum->q2 = L.q2 + R.q2;
  Sum->q3 = L.q3 + R.q3;
  Sum->q4 = L.q4 + R.q4;
}
 
static inline void quat_sub(struct quaternion *Sum, struct quaternion L, struct quaternion R) {
  Sum->q1 = L.q1 - R.q1;
  Sum->q2 = L.q2 - R.q2;
  Sum->q3 = L.q3 - R.q3;
  Sum->q4 = L.q4 - R.q4;
}
 
static inline struct quaternion quat_conjugate(struct quaternion q) {
  q.q2 = -q.q2;
  q.q3 = -q.q3;
  q.q4 = -q.q4;
  return q;
}
 
static inline float quat_Norm(struct quaternion q) {
  return sqrt(q.q1 * q.q1 + q.q2 * q.q2 + q.q3 * q.q3 + q.q4 * q.q4);
}
 
static inline void quat_Normalization(struct quaternion *q) {
  float norm = quat_Norm(*q);
  q->q1 /= norm;
  q->q2 /= norm;
  q->q3 /= norm;
  q->q4 /= norm;
}
 
void imu_filter(float ax, float ay, float az, float gx, float gy, float gz);
void eulerAngles(struct quaternion q, float *roll, float *pitch, float *yaw);