/*************************************************************************************************
**Filename: lsm6d.h
**Version :			
**Author  :				
**Date    :	 				
**Description:	
**
*************************************************************************************************/
#ifndef __LSM6D_H_
#define __LSM6D_H_

#include "ARMCM0.h"
#include "lsm6dso_reg.h"

/*********************************************************************
 * Global  Macros ('#define')
 */
#define LSM6DSO_ADDRESS      (LSM6DSO_I2C_ADD_L>>1)
#define LSM6DSO_ID            0x6C

#ifndef ABS
#define ABS(x) ((x) < 0 ? -(x) : (x))
#endif

/*********************************************************************
 * Struct type definitions('typedef')
 */
typedef struct
{
	float C_angle;
	float bias_cf;
	float C_angle_dot;
	
}tFilter_Type;

typedef struct 
{
  uint8_t exist;
  uint8_t batt_level;
  int16_t RPM;
  int16_t angle;
  uint8_t actFlag;
  uint8_t adjustFlag; 
  uint16_t sleepCnt;
  uint8_t sleepFlag;
  uint8_t sleepState;    
  
} PAS_SENSOR_t;

/*********************************************************************
 * Global Variable declared  ('extern')
 */
extern float Angle;
extern PAS_SENSOR_t PAS;

/*********************************************************************
 * Global Function declared  ('extern')
 */
void Lsm6dso_Init(void);
void Lsm6dso_RPM_Cal(void);
void Lsm6dso_Correct(void);
void Lsm6dso_Disable(void);

#endif

/*************************************************************************************************/