#include "driver/i2c_master.h"

#ifndef __SC7U22_H_
#define __SC7U22_H_


#define	SC7U22_CONFIG			0x1A
#define	SC7U22_GYRO_CONFIG		0x42
#define	SC7U22_ACCEL_CONFIG		0x40

#define	SC7U22_ACCEL_XOUT_H		0x0C
#define	SC7U22_ACCEL_XOUT_L		0x0D
#define	SC7U22_ACCEL_YOUT_H		0x0E
#define	SC7U22_ACCEL_YOUT_L		0x0F
#define	SC7U22_ACCEL_ZOUT_H		0x10
#define	SC7U22_ACCEL_ZOUT_L		0x11
#define	SC7U22_GYRO_XOUT_H		0x12
#define	SC7U22_GYRO_XOUT_L		0x13
#define	SC7U22_GYRO_YOUT_H		0x14
#define	SC7U22_GYRO_YOUT_L		0x15
#define	SC7U22_GYRO_ZOUT_H		0x16
#define	SC7U22_GYRO_ZOUT_L		0x17

#define	SC7U22_WHO_AM_I			0x01

#define  SC7U22_I2C_ADDR      	    0x18 
#define  NST112_I2C_ADDR      	    0x48 
#define  MS523_I2C_ADDR      	    0x28
#define  I2C_MASTER_FREQ_HZ         800000    //  kHz  800000
#define  I2C_MASTER_FREQ_TEMP_HZ    100000    //  kHz  800000
#define  GRAVITY_EARTH              (9.80665f)
#define  ALPHA                      0.90f         // 高通系数
#define  BUM_THRESHOLD              4.0e8f         // 颠簸能量阈值（暂定）
#define  turn_gyro_threshold        30.0f         //急转弯角速度阈值
#define  turn_accel_threshold       2.0f           //急转弯向心加速度阈值
#define  rapid_accel_threshold      3.0f          //急加速阈值
#define  rapid_decel_threshold      -3.0f         //急刹车阈值
#define  DATA_BUFFER_SIZE           200
#define  is_stop_magnitude          0.35f         //启动
#define  stop_proportion_threshold  0.5f        //停止时间比例阈值
#define  start_stop_threshold       15         //启停次数阈值

// 驾驶事件冷却屏蔽（10秒内不再触发表情）
#define EVENT_COOLDOWN_MS           10000   // 冷却时间 10 秒




extern float ax,ay,az,gx,gy,gz;


typedef struct
{
	int16_t Ax;
	int16_t Ay;
	int16_t Az;
	int16_t Gx;
	int16_t Gy;
	int16_t Gz;
}SC7U22_DataType;

struct  acc_offset
{
    float acc_x_offset;
    float acc_y_offset;
    float acc_z_offset;

    float gyr_x_offset;
    float gyr_y_offset;
    float gyr_z_offset;
};

typedef struct{
    float accx_noise;
    float accy_noise;
    float accz_noise;
    float gyrx_noise;
    float gyry_noise;
    float gyrz_noise;
}noise_datatype;

typedef struct {
    float accel_x;
    float accel_y;
    float accel_z;
    float gyro_x;
    float gyro_y;
    float gyro_z;
    int64_t timestamp;
} sensor_data_t;

typedef enum {
    EVENT_NONE = 0,
    EVENT_SUDDEN_ACCEL,     // 急加速
    EVENT_SUDDEN_BRAKE,     // 急刹车
    EVENT_SHARP_LTURN,      //急左转弯
    EVENT_SHARP_RTURN,      //急右转弯
} driving_event_t;

void SC7U22_init(i2c_master_bus_handle_t i2c_bus);
esp_err_t SC7U22_Reg_W(uint8_t reg_addr, uint8_t data);
esp_err_t SC7U22_Reg_R(uint8_t reg_addr, uint8_t *data);
// void SC7U22_DataGet(SC7U22_DataType* SC7U22_DataStucture);

void mySC7_getdata(void);     //获得处理后的数据
void SC7U22_Sensor_enable(void);
void noise_threshold_get(void);
void accel_Getoffset(void);
float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);

void bum_energy_get(void);
bool is_bump(void);
void sharp_turn_detect(void);
driving_event_t is_sharp_turn(void);
void start_stop_state(void);
void detect_driving_events(void);
driving_event_t is_rapid_acc_or_dec(void);
bool is_jam(void);
void imu_task(void *param);
i2c_master_bus_handle_t get_i2c_master_bus_handle(void);

esp_err_t BMI_init(void);
esp_err_t NST112_init(void);
esp_err_t MS523_init(void);
#endif