#ifndef _HAL_H_
#define _HAL_H_

#ifdef __cplusplus
extern "C"
{
#endif
	
#pragma anon_unions

#include <stdint.h>

    /**
     * \struct _HAL_gyro_SI_t
     * \brief Gyroscope data with SI unit (rad/s)
     * 
     * seq - sample count
     * v - latest gyro data
     * vi - integrate gyro from last call for EKF(rad)
     * dti - intergrate time from last call
     * temperature - For Temperature Compensation
     */
    typedef struct _HAL_gyro_SI_t
    {
        uint32_t seq;
        union {
            float v[3];
            struct
            {
                float x;
                float y;
                float z;
            };
        };
        union {
            float vi[3];
            struct
            {
                float xi;
                float yi;
                float zi;
            };
        };
        float dti;
        float temperature; ///< Unit is Celsius
    } HAL_gyro_SI_t;

    /**
     * \struct _HAL_acc_SI_t
     * \brief Accelerometer data with SI unit (m/s2)
     * 
     * seq - sample count
     * v - latest Accelerometer data 
     * vi - integrated speed from last call for EKF(m/s)
     * dti - intergrate time from last call
     * temperature - For Temperature Compensation
     */
    typedef struct _HAL_acc_SI_t
    {
        uint32_t seq;
        union {
            float a[3];
            struct
            {
                float x;
                float y;
                float z;
            };
        };
        union {
            float v[3];
            struct
            {
                float xi;
                float yi;
                float zi;
            };
        };
        float dti;
        float temperature; ///< Unit is Celsius
    } HAL_acc_SI_t;

    /**
     * \struct _HAL_magn_mg_t
     * \brief Magnetic data with mG unit
     * 
     * seq - sample count
     * v - latest Magnetic data 
     */
    typedef struct _HAL_magn_mG_t
    {
        uint32_t seq;
        union {
            float v[3];
            struct
            {
                float x;
                float y;
                float z;
            };
        };
    } HAL_magn_mG_t;

    /**
     * \struct _HAL_pressurePS_SI_t
     * \brief Pressure data of pressure sensor with SI unit
     * seq - sample count
     * pressure - latest Magnetic data 
     * temperature - For Temperature Compensation
     */
    typedef struct _HAL_pressure_SI_t
    {
        uint32_t seq;
        float pressure;    ///< Unit is Pascal
        float temperature; ///< Unit is Celsius
    } HAL_pressure_SI_t;

    typedef struct _HAL_sbus_in_t
    {
        uint16_t channels[18];
        uint8_t seq;
        uint8_t id;
        uint8_t valid;
    } HAL_sbus_in_t;

    typedef struct _HAL_led_color_t
    {
        union {
            uint8_t rgb[3];
            struct
            {
                uint8_t r;
                uint8_t g;
                uint8_t b;
            };
        };
    } HAL_led_color_t;

    /**
     * \struct _HAL_GPS_SI_t
     * \brief GPS receiver with SI unit
     * 
     * fixtype:
     * 0 - No GPS connected
     * 1 - No position information, GPS is connected
     * 2 - 2D position
     * 3 - 3D position
     * 4 - DGPS/SBAS aided 3D position
     * 5 - RTK float, 3D position
     * 6 - RTK Fixed, 3D position
     * 7 - Static fixed, typically used for base stations
     * 8 - PPP, 3D position.
     * 
     * att_fixtype:
     * 0 - attitude invalid
     * 1 - pitch/heading valid
     */
    typedef struct _HAL_GPS_SI_t
    {
        double latitude;  ///< Unit is degree
        double longitude; ///< Unit is degree
        float altitude;   ///< aititude from MSL, Unit is meter
        union {
            float vNED[3]; ///< Unit is meter per second, in NED axes
            struct
            {
                float vel_north;
                float vel_east;
                float vel_down;
            };
        };
        float heading;    ///< Unit is radian, valid when fixtype_att>1
        float pitch;      ///< Unit is radian, valid when fixtype_att>1
        float h_acc;      ///< Unit is meter,  Position uncertainty
        float v_acc;      ///< Unit is meter,  Altitude uncertainty
        float vel_acc;    ///< Unit is m/s,  velocity uncertainty
        float att_acc;    ///< Unit is radian,  attitude uncertainty when fixtype_att>1
        uint32_t TOW;     ///< Unit is millisecond, Time of Week
        uint32_t seq;     ///< update count
        uint32_t seq_att; ///< attitude update count
        uint16_t HDOP;    ///< GPS HDOP horizontal dilution of position
        uint16_t VDOP;    ///< GPS VDOP vertical dilution of position
        uint16_t WN;      ///< Week Number of GPS

        uint8_t fixtype; ///< GPS fixtype
        uint8_t fixtype_att;
        uint8_t satnum;
    } HAL_GPS_SI_t;

    /**
     * \struct _HAL_INS_SI_t
     * \brief INS device output with SI unit
     */
    typedef struct _HAL_INS_SI_t
    {
        double latitude;  ///< Unit is degree
        double longitude; ///< Unit is degree
        float altitude;   ///< aititude from MSL, Unit is meter
        union {
            float vNED[3]; ///< Unit is meter per second, in NED axes
            struct
            {
                float vel_north;
                float vel_east;
                float vel_down;
            };
        };
        union {
            float attitude[3]; ///<Unit is radian
            struct
            {
                float roll;  ///< Unit is radian
                float pitch; ///< Unit is radian
                float yaw;   ///< Unit is radian
            };
        };
        uint32_t seq;   ///< update count
        uint8_t status; ///< working status
                        ///< bit0 - attitude valid
                        ///< bit1 - speed valid
                        ///< bit2 - position valid
                        ///< bit7 - calibration

        uint8_t integration_status; ///< integration method
                                    ///< 0 - pure Inertial mode
                                    ///< bit0(1) - GPS assist
                                    ///< bit1(2) - baro assist
                                    ///< bit2(4) - radar assist
        uint8_t BIT;                ///< health status 0-health; otherwise-unhealth.
    } HAL_INS_SI_t;

#ifdef __cplusplus
}
#endif

#endif // _HAL_H_