AccelerometerUtils.hpp

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#pragma once
 
#include "SensorDefs.hpp"
 
// *INDENT-OFF*
namespace AccelerometerUtils
{
    inline float gToMps2(float g_value)
    {
        return g_value * 9.80665f; // Standard gravity constant
    }
 
    inline float mps2ToG(float mps2_value)
    {
        return mps2_value / 9.80665f;
    }
 
    inline float rangeToG(AccelFullScaleRange range)
    {
        switch (range) {
        case AccelFullScaleRange::FS_2G:   return 2.0f;
        case AccelFullScaleRange::FS_4G:   return 4.0f;
        case AccelFullScaleRange::FS_8G:   return 8.0f;
        case AccelFullScaleRange::FS_16G:  return 16.0f;
        case AccelFullScaleRange::FS_32G:  return 32.0f;
        case AccelFullScaleRange::FS_64G:  return 64.0f;
        case AccelFullScaleRange::FS_128G: return 128.0f;
        default:                           return 8.0f; // Default fallback
        }
    }
 
    inline float calculateMagnitude(const AccelerometerData &data)
    {
        const auto &acc = data.mps2;
        return sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
    }
 
    inline float calculateInclination(const AccelerometerData &data, uint8_t axis)
    {
        if (axis > 2) return NAN;
 
        float magnitude = calculateMagnitude(data);
        if (magnitude == 0.0f) return NAN;
 
        switch (axis) {
        case 0: // X-axis
            return acosf(data.mps2.x / magnitude);
        case 1: // Y-axis
            return acosf(data.mps2.y / magnitude);
        case 2: // Z-axis
            return acosf(data.mps2.z / magnitude);
        default:
            return NAN;
        }
    }
 
    inline float calculateInclinationDegrees(const AccelerometerData &data, uint8_t axis)
    {
        float rad = calculateInclination(data, axis);
        return isnan(rad) ? NAN : rad * 180.0f / M_PI;
    }
 
    inline SensorDirection getDirection(const AccelerometerData &data)
    {
        float x = data.mps2.x;
        float y = data.mps2.y;
        float z = data.mps2.z;
 
        if (fabsf(x) > fabsf(y) && fabsf(x) > fabsf(z)) {
            return (x > 0) ? SensorDirection::DIRECTION_TOP_LEFT : SensorDirection::DIRECTION_BOTTOM_RIGHT;
        } else if (fabsf(y) > fabsf(x) && fabsf(y) > fabsf(z)) {
            return (y > 0) ? SensorDirection::DIRECTION_TOP_RIGHT : SensorDirection::DIRECTION_BOTTOM_LEFT;
        } else if (fabsf(z) > fabsf(x) && fabsf(z) > fabsf(y)) {
            return (z > 0) ? SensorDirection::DIRECTION_TOP : SensorDirection::DIRECTION_BOTTOM;
        } else {
            return SensorDirection::DIRECTION_UNKNOWN;
        }
    }
};
// *INDENT-ON*