dane.h

#include "naglowki_include.h"

#ifndef _DANE_H_
#define _DANE_H_

#define SREDNIA 64
#define PRZESUN 6
#define BLEDY 64 //ilosc bledow gromadzonych w I

#endif

typedef struct
{
	uint8_t timer;
	uint8_t wartosc_pocz;
	uint8_t pwm1;
	uint8_t pwm2;
	uint8_t pwm3;
	uint8_t pwm4;
} PWMTypeDef;

typedef struct
{
	uint8_t akcel_x_l;
	uint8_t akcel_x_h;
	uint8_t akcel_y_l;
	uint8_t akcel_y_h;
	uint8_t akcel_z_l;
	uint8_t akcel_z_h;

	int32_t akcel_x_kat_rad;
	int32_t akcel_y_kat_rad;

	uint8_t akcel_ktora_srednia;
	uint8_t akcel_x_srednia;
	uint8_t akcel_x_srednia_tab[SREDNIA];
	uint8_t akcel_y_srednia;
	uint8_t akcel_y_srednia_tab[SREDNIA];
} AkcelTypeDef;

typedef struct
{
	uint8_t zyro_x_l;
	uint8_t zyro_x_h;
	uint8_t zyro_y_l;
	uint8_t zyro_y_h;
	uint8_t zyro_z_l;
	uint8_t zyro_z_h;
	uint16_t zyro_kalibr_ktory;

	int32_t zyro_y_kat_mdeg;
	int32_t zyro_x_kat_mdeg;
	int32_t zyro_z_kat_mdeg;

	double zyro_y_deg_sec;
	double zyro_z_deg_sec;
	double zyro_x_deg_sec;

	int32_t zyro_y_kalibracja; //sluzy do kalibrowania odczytow, przez pierwsze 256 odczytow quadro MUSI stac
	int32_t zyro_z_kalibracja;
	int32_t zyro_x_kalibracja;
} ZyroTypeDef;

typedef struct
{
	uint8_t press_out_xl;
	uint8_t press_out_l;
	uint8_t press_out_h;
	uint8_t temp_out_l;
	uint8_t temp_out_h;

	uint8_t temp_celsius;
	int16_t press_mbar;

	uint8_t ktory; // do kalibracji
} BaroTypeDef;

typedef struct
{
	int32_t kat_x;
	int32_t kat_y;
} KatTypeDef;

typedef struct
{
	uint8_t magnet_x_l;
	uint8_t magnet_x_h;
	uint8_t magnet_y_l;
	uint8_t magnet_y_h;
	uint8_t magnet_z_l;
	uint8_t magnet_z_h;
} MagnetTypeDef;

typedef struct
{
	uint8_t kP; //wspolczynnik regulacji P
	uint8_t kI;
	uint8_t kD;
	int32_t I_x_bledy_tab[BLEDY];
	int32_t I_y_bledy_tab[BLEDY];
	int32_t I_x_bledy_srednia;
	int32_t I_y_bledy_srednia;
	uint8_t I_ktory_blad;
} PIDTypeDef;

typedef struct
{
	uint32_t poziom;
	uint8_t poziom_procent;
	uint32_t ktora;
} BateriaTypeDef;

/*
 * https://github.com/TKJElectronics/KalmanFilter/blob/master/Kalman.h
 * Trochê magii z Hogwartu!
 */

typedef struct
{
	double Q_angle; // Process noise variance for the accelerometer
	double Q_bias; // Process noise variance for the gyro bias
	double R_measure; // Measurement noise variance - this is actually the variance of the measurement noise

	double angle; // The angle calculated by the Kalman filter - part of the 2x1 state vector
	double bias; // The gyro bias calculated by the Kalman filter - part of the 2x1 state vector
	double rate; // Unbiased rate calculated from the rate and the calculated bias - you have to call getAngle to update the rate

	double P[2][2]; // Error covariance matrix - This is a 2x2 matrix
	double K[2]; // Kalman gain - This is a 2x1 vector
	double y; // Angle difference
	double S; // Estimate error
} KalmanTypeDef;

typedef struct
{
	uint8_t bufor; //
} USARTTypeDef;

typedef struct
{
	PWMTypeDef pwm; //struktura PWM
	ZyroTypeDef zyro;
	MagnetTypeDef magnet;
	AkcelTypeDef akcel;
	BaroTypeDef baro;
	PIDTypeDef pid;
	KatTypeDef kat;
	BateriaTypeDef bateria;
	USARTTypeDef usart;

	KalmanTypeDef kalman_x;

	int32_t temp;
	uint8_t czy_polaczony; //zeby awaryjnie wylaczyc (systick)
	uint16_t opoznienie; //¿eby zainicjalizowaæ silniki oraz dla bezpieczeñstwa
} daneTypeDef;


void inicjalizacja_dane();