#ifndef IMU_PROCESSING_H
#define IMU_PROCESSING_H

#include "imu.h"


#define ACCEL_SENS_SCALE_FACTOR		8192.0f
#define GYRO_SENS_SCALE_FACTOR		16.4f
#define PI							3.14159265359f

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

void imu_processing_init();

void imu_read_scaled(imu_scaled_t* out);

void imu_calibrate();

#endif