#ifndef IMU_PROCESSING_H
#define IMU_PROCESSING_H

#include "imu.h"


#define ACCEL_SENS_SCALE_FACTOR		4096.0f
#define GYRO_SENS_SCALE_FACTOR		16.384f
#define PI							          3.14159265359f
#define DEG2RAD						        PI / 180.0f

typedef struct
{
	float ax, ay, az; // g
	float gx, gy, gz; // dps
} imu_scaled_t;

void imu_processing_init();

void imu_process_raw(imu_scaled_t* out, imu_raw_t* raw, const uint8_t* allowed_calib);
void imu_read_scaled(imu_scaled_t* out, const uint8_t* allowed_calib);
void imu_calib(imu_raw_t* imu, long gyrLim, long accZero, long accMax);
uint16_t Rev16(uint16_t v);

void imu_accel_calibrate();

float normalize(float value, float scale, float min, float max);
long absl(long value);

#endif