calib_mgr.h

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#ifndef CALIB_MGR_H
#define CALIB_MGR_H
 
#include <stdint.h>
#include <stddef.h>
 
/* ---- calibration sets (RAM and flash) ---- */
typedef struct { float off[3], scale[3]; } cal_accel_t;     
typedef struct { float roll_deg, pitch_deg; } cal_level_t;  
typedef struct { float bias[3]; } cal_gyro_t;                
typedef struct { float hi[3], scale[3]; } cal_compass_t;    
typedef struct { uint8_t rev_mask, pad[3]; } cal_motors_t;
typedef struct { float scale_v, scale_i; } cal_battery_t;  
typedef struct {
    cal_accel_t   accel;
    cal_level_t   level;
    cal_gyro_t    gyro;
    cal_compass_t compass;
    cal_motors_t  motors;
    cal_battery_t battery;
    uint32_t      done_mask;     
} cal_set_t;
 
void cal_set_defaults(cal_set_t *s, const float mag_hi_default[3]);
void cal_copy_type(cal_set_t *dst, const cal_set_t *src, uint8_t type);
 
/* ---- samples from the ImuTask (raw: calibration removed) ---- */
typedef struct {
    float   acc[3];    
    float   gyro[3];   
    float   mag[3];    
    float   q[4];      
    uint8_t mag_new;
    uint8_t running;   
} cal_sample_t;
 
typedef void (*cal_apply_fn)(uint8_t type, const cal_set_t *set);
 
typedef void (*cal_batt_fn)(float *vbat, float *last_used_mah, float *last_scale_i);
 
typedef struct {
    uint16_t     sensors;        
    uint8_t      motors_built;
    cal_apply_fn apply;
    cal_batt_fn  batt;           
} cal_config_t;
 
void    cal_init(const cal_config_t *cfg, cal_set_t *active);
void    cal_set_sensors(uint16_t sensors);       
uint8_t cal_start(uint8_t type, uint8_t option, uint8_t armed, uint32_t now_ms, uint8_t *reason);
uint8_t cal_capture(uint32_t now_ms, uint8_t *reason);
uint8_t cal_abort(uint8_t *reason);
uint8_t cal_set_ref(uint8_t type, uint8_t index, float value, uint8_t *reason);
uint8_t cal_save_check(uint8_t *reason);
const cal_set_t *cal_result(void);
uint8_t cal_type(void);
void    cal_saved(void);         
void    cal_feed(const cal_sample_t *s, uint32_t now_ms);
void    cal_tick(uint32_t now_ms);
 
uint8_t cal_active(void);        
uint8_t cal_running(void);       
uint8_t cal_wants_samples(void);
uint8_t cal_take_changed(void);
uint8_t cal_take_failed(void);
size_t  cal_frame(uint8_t *out, size_t cap);
 
#endif /* CALIB_MGR_H */