#pragma once

#include <fix16.h>
#include <fixvector3d.h>
#include <ch.h>

// Latest values read from sensors. These are updated inside chSysLock.
volatile extern int mag_x, mag_y, mag_z;
volatile extern int acc_x, acc_y, acc_z;

extern EventSource sensor_data_event;

volatile extern unsigned sensor_readings;
volatile extern unsigned mag_errors;
volatile extern unsigned acc_errors;
volatile extern unsigned sensor_start_time;

void sensor_init();
void sensor_start();
void sensor_stop();

void sensor_get_mag(v3d *mag);
void sensor_get_acc(v3d *acc);