#ifndef _PDR_AHRS_H_
#define _PDR_AHRS_H_

#ifdef __cplusplus
extern "C" {
#endif

/* Header File Including ------------------------------------------------------------------------ */

#include "pdr_sensor.h"

/* Macro Declaration ---------------------------------------------------------------------------- */
#define AHRS_SAMPLE_FREQ                        100                   // ARHS算法的传感器采样频率
#define IMU_SAMPLING_FREQUENCY                  100           
#define AHRS_KP                                 0.500
#define AHRS_TYPE_GYRO                          4
#define AHRS_TYPE_ACCE                          1
#define AHRS_TYPE_MAGN                          2
#define AHRS_STATUS_RESET_PHASE_0               0x80
#define AHRS_STATUS_RESET_PHASE_1               0x40
#define AHRS_STATUS_RESET                       (AHRS_STATUS_RESET_PHASE_0|AHRS_STATUS_RESET_PHASE_1)
#define AHRS_STATUS_STABLE                      0x20

/* Struct Declaration --------------------------------------------------------------------------- */


/* Function Declaration ------------------------------------------------------------------------- */

void pdr_initAhrs(void);
void pdr_ahrsReset(void);

/**---------------------------------------------------------------------
* Function    : fv3Norm
* Description : 三维浮点数向量归一化
* Date        : 2021/01/26 yuanlin@vivocom && 
* 
* 
*---------------------------------------------------------------------**/
void fv3Norm(float* vx, float* vy, float* vz);

int pdr_imuUpdateAhrs(imu* imu);


#ifdef __cplusplus
}
#endif

#endif // for __AHRS_H