sensors.h

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#ifndef SENSORS_H
#define SENSORS_H
 
#include <stdint.h>
 
#include "common/ublox/nav_pvt.h"
#include "common/ublox/nav_relposned.h"
 
typedef struct {
    float gyro_y;
    float gyro_x;
    float gyro_z;
    float accel_x;
    float accel_y;
    float accel_z;
} imu_data_t;
 
static constexpr size_t ROVER_TX_SIZE = NAV_PVT_TOTAL_LENGTH + NAV_RELPOSNED_TOTAL_LENGTH;
extern volatile uint8_t rover_rx_buffer[ROVER_TX_SIZE]; // DMA target
extern NAV_PVT_data_t nav_pvt;
extern NAV_RELPOSNED_data_t nav_relposned;
extern imu_data_t imu_data;
 
static constexpr uint32_t GPS_THREAD_PERIOD_MS = 100;
void gps_periodic(void);
 
// async imu decoupling handled by RX callbacks
void initialize_calibration(void);
void IZZE_angular_rate_CALLBACK(void);
void IZZE_acceleration_CALLBACK(void);
 
#endif // SENSORS_H